Migrating from CTRE Phoenix to SPARK MAX

Search…
Many teams have been using various CTRE motor controllers such as the Talon SRX and Talon SPX, and have concerns about porting software between platforms. Fortunately the feature set and code required is similar between the two, and porting from one to the other is easy. Below shows the common tasks and the changes required to convert from the code for CTRE Phoenix devices to the SPARK MAX. 
JAVA
Include Library
REV SPARK MAX
Phoenix Framework
1
import com.revrobotics.CANEncoder;
2
import com.revrobotics.CANPIDController;
3
import com.revrobotics.CANSparkMax;
4
import com.revrobotics.ControlType;
5
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
Copied!
1
import com.ctre.phoenix.motorcontrol.can.*;
2
import com.ctre.phoenix.motorcontrol.*;
Copied!
Create Object CAN ID 1
REV SPARK MAX
Phoenix Framework
1
private CANSparkMax sparkMax = new CANSparkMax(deviceID, MotorType.kBrushless);
Copied!
1
TalonSRX talonSRX = new TalonSRX(1);
Copied!
Reset Factory Defaults
REV SPARK MAX
Phoenix Framework
1
sparkMax.restoreFactoryDefaults();
Copied!
1
talonSRX.configFactoryDefault();
Copied!
Select Encoder
This is a brushed motor feature and not needed for using brushless motors with SPARK MAX
REV SPARK MAX
Phoenix Framework
1
encoder = sparkMax.getEncoder();
2
encoder.setInverted(false);
3
sparkMax.setFeedbackDevice(encoder);
Copied!
1
talonSRX.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, kPIDLoopIdx, Constants.kTimeoutMs);
2
talonSRX.setSensorPhase(true);
Copied!
Set closed loop constants
REV SPARK MAX
Phoenix Framework
1
pidController.setP(kP);
2
pidController.setI(kI);
3
pidController.setD(kD);
4
pidController.setIZone(kIz);
5
pidController.setFF(kFF);
6
pidController.setOutputRange(kMinOutput, kMaxOutput);
Copied!
1
talonSRX.configNominalOutputForward(0, kTimeoutMs);
2
talonSRX.configNominalOutputReverse(0, kTimeoutMs);
3
talonSRX.configPeakOutputForward(kMaxOutput, kTimeoutMs);
4
talonSRX.configPeakOutputReverse(kMinOutput, kTimeoutMs);
5
​
6
talonSRX.config_kF(kPIDLoopIdx, kP, kTimeoutMs);
7
talonSRX.config_kP(kPIDLoopIdx, kI, kTimeoutMs);
8
talonSRX.config_kI(kPIDLoopIdx, kD, kTimeoutMs);
9
talonSRX.config_kD(kPIDLoopIdx, kF, kTimeoutMs);
Copied!
Run Closed Loop Velocity Control
For this example velocity is set at 500 RPM
REV SPARK MAX
Phoenix Framework 
1
pidController.setReference(500.0, ControlType.kVelocity);
Copied!
1
// Convert from 500 RPM to 'native units'
2
double VelocityinUnitsPer100ms  = 500.0 * 4096 / 600;
3
talonSRX.set(ControlMode.Velocity, VelocityinUnitsPer100ms ); 
Copied!
Read RPM of Motor
REV SPARK MAX
Phoenix Framework
1
encoder.getVelocity();
Copied!
1
talonSRX.getSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;
Copied!
Read Applied Output Percent
REV SPARK MAX
Phoenix Framework
1
sparkMax.getAppliedOutput();
Copied!
1
talonSRX.getMotorOutputPercent();
Copied!
Run Closed Loop Position Control
This example runs a position control loop for 10 rotations.
REV SPARK MAX
Phoenix Framework
1
pidController.setReference(10.0, ControlType.kPosition);
Copied!
1
targetPositionRoations = 10.0 * 4096;
2
talonSRX.set(ControlMode.Position, targetPositionRotations);
Copied!
Change Units from 'rotations' to 'inches'
This example assumes a 4" wheel on a 15:1 reduction
REV SPARK MAX
Phoenix Framwork
1
encoder.setPositionFactor(M_PI * 4/15);
Copied!
1
// No Equivellant
Copied!
Run Closed Loop Position Control for a set distance
This example assumes a 4" wheel on a 15:1 reduction to move 2 feet (24 inches).
REV SPARK MAX
Phoenix Framework
1
pidController.setReference(24.0, ControlType.kPosition);
Copied!
1
targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
2
talonSRX.set(ControlMode.Position, targetPositionRotations);
Copied!
Save Parameters
REV SPARK MAX
Phoenix Framework
1
// Run after all parameters are set in RobotInit()
2
sparkMax.burnFlash();
Copied!
1
//Automatic
Copied!
Follow another device
REV SPARK MAX
Phoenix Framework
1
sparkMax1.follow(sparkMax2);
Copied!
1
talonSRX1.follow(talonSRX2);
Copied!
Invert a device
REV SPARK MAX
Phoenix Framework
1
sparkMax.setInverted(true);
Copied!
1
talonSRX.setInverted(true);
Copied!
Configure a limit switch
REV SPARK MAX
Phoenix Framework
1
forwardLimit = sparkMax.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
Copied!
1
talonSRX.configForwardLimitSwitchSource(
2
                                        LimitSwitchSource.LimitSwitchSource_FeedbackConnector,
3
                                        LimitSwitchNormal.LimitSwitchNormal_NormallyOpen,
4
                                        kTimeoutMs);
Copied!
Disable a limit switch
REV SPARK MAX
Phoenix Framework
1
forwardLimit.EnableLimitSwitch(false);
Copied!
1
talonSRX.overrideLimitSwitchesEnable(true);
Copied!
C++
Include Library
REV SPARK MAX
Phoenix Framework
1
#include "rev/CANSparkMax.h"
Copied!
1
#include "ctre/Phoenix.h"
Copied!
Create Object CAN ID 1
REV SPARK MAX
Phoenix Framework
1
rev::CANSparkMax sparkMax{1, rev::CANSparkMax::MotorType::kBrushless};
Copied!
1
TalonSRX* talon = new TalonSRX(1);
Copied!
Reset Factory Defaults
REV SPARK MAX
Phoenix Framework
1
sparkMax.RestoreFactoryDefaults();
Copied!
1
talon->ConfigFactoryDefault();
Copied!
Select Encoder
This is a brushed motor feature and not needed for using brushless motors with SPARK MAX.
REV SPARK MAX
Phoenix Framework
1
rev::CANEncoder encoder = sparkMax.GetEncoder(rev::CANEncoder::EncoderType::kQuadrature, 4096);
2
encoder.SetInverted(true);
3
sparkMax.SetFeedbackDevice(encoder);
Copied!
1
talonSRX->ConfigSelectedFeedbackSensor(FeedbackDevice::CTRE_MagEncoder_Relative, 0, kTimeoutMs);
2
talonSRX->SetSensorPhase(true);
Copied!
Set closed loop constants
REV SPARK MAX
Phoenix Framework
1
rev::CANPIDController pidController = sparkMax.GetPIDController();
2
pidController.SetFeedbackDevice(encoder);
3
​
4
pidController.SetP(kP);
5
pidController.SetI(kI);
6
pidController.SetD(kD);
7
pidController.SetIZone(kIz);
8
pidController.SetFF(kFF);
9
pidController.SetOutputRange(kMinOutput, kMaxOutput);
Copied!
1
talonSRX->ConfigNominalOutputForward(0, kTimeoutMs);
2
talonSRX->ConfigNominalOutputReverse(0, kTimeoutMs);
3
talonSRX->ConfigPeakOutputForward(1, kTimeoutMs);
4
talonSRX->ConfigPeakOutputReverse(-1, kTimeoutMs);
5
​
6
 talonSRX->Config_kF(kPIDLoopIdx, 0.1097, kTimeoutMs);
7
talonSRX->Config_kP(kPIDLoopIdx, 0.22, kTimeoutMs);
8
talonSRX->Config_kI(kPIDLoopIdx, 0.0, kTimeoutMs);
9
talonSRX->Config_kD(kPIDLoopIdx, 0.0, kTimeoutMs);
Copied!
Run Closed Loop Velocity Control
For this example velocity is set at 500 RPM
REV SPARK MAX
Phoenix Framework 
1
pidController.SetReference(500.0, rev::ControlType::kVelocity);
Copied!
1
"// Convert from 500 RPM to 'native units'
2
double VelocityinUnitsPer100ms  = 500.0 * 4096 / 600;
3
talonSRX->Set(ControlMode::Velocity, VelocityinUnitsPer100ms ); 
Copied!
Read RPM of Motor
REV SPARK MAX
Phoenix Framework
1
encoder.GetVelocity();
Copied!
1
talonSRX->GetSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;
Copied!
Read Applied Output Percent
REV SPARK MAX
Phoenix Framework
1
sparkMax.GetAppliedOutput();
Copied!
1
talonSRX->GetMotorOutputPercent();
Copied!
Run Closed Loop Position Control
This example runs a position control loop for 10 rotations.
REV SPARK MAX
Phoenix Framework
1
pidController.SetReference(10.0, rev::ControlType::kPosition);
Copied!
1
targetPositionRotations = 10.0 * 4096;
2
talonSRX->Set(ControlMode::Position, targetPositionRotations);;
Copied!
Change Units from 'rotations' to 'inches'
This example assumes a 4" wheel on a 15:1 reduction
REV SPARK MAX
Phoenix Framwork
1
encoder.SetPositionFactor( M_PI * 4 / 15 );
Copied!
1
// No Equivellant
Copied!
Run Closed Loop Position Control for a set distance
This example assumes a 4" wheel on a 15:1 reduction to move 2 feet (24 inches).
REV SPARK MAX
Phoenix Framework
1
pidController.SetReference(24.0, rev::ControlType::kPosition);
Copied!
1
targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
2
talonSRX->Set(ControlMode::Position, targetPositionRotations);
Copied!
Save Parameters
REV SPARK MAX
Phoenix Framework
1
// Run after all parameters are set in RobotInit()
2
sparkMax.BurnFlash();
Copied!
1
//Automatic
Copied!
Follow another device
REV SPARK MAX
Phoenix Framework
1
sparkMax1.Follow(sparkMax2);
Copied!
1
talonSRX1->Follow(*talon2);
Copied!
Invert a device
REV SPARK MAX
Phoenix Framework
1
sparkMax.SetInverted(true);
Copied!
1
talonSRX->SetInverted(true);
Copied!
Configure a limit switch
REV SPARK MAX
Phoenix Framework
1
rev::CANDigitalInput forwardLimit = sparkMax.GetForwardLimitSwitch(rev::CANDigitalInput::LimitSwitchPolarity::kNormallyOpen);
Copied!
1
talonSRX->ConfigForwardLimitSwitchSource(
2
					LimitSwitchSource::LimitSwitchSource_FeedbackConnector,
3
					LimitSwitchNormal::LimitSwitchNormal_NormallyOpen,
4
					kTimeoutMs);
Copied!
Disable a limit switch
REV SPARK MAX
Phoenix Framework
1
forwardLimit.EnableLimitSwitch(false);
Copied!
1
talonSRX->OverrideLimitSwitchesEnable(true);
Copied!
Software Resources - Previous
Configuration Parameters
Next - Tips and Tricks
Anderson Powerpole Connectors
Last modified 6mo ago