Migrating from CTRE Phoenix to SPARK MAX

We're Updating our Documentation! For the most up-to-date information about the SPARK MAX and other ION Motor Controllers please check out the following new documentation pages:

• REV ION Brushless

  • SPARK MAX Resources

  • REVLib for SPARK MAX

• REV Hardware Client Documentation

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

import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

Phoenix Framework

import com.ctre.phoenix.motorcontrol.can.*;
import com.ctre.phoenix.motorcontrol.*;

Create Object CAN ID 1

REV SPARK MAX

private CANSparkMax sparkMax = new CANSparkMax(deviceID, MotorType.kBrushless);

Phoenix Framework

TalonSRX talonSRX = new TalonSRX(1);

Reset Factory Defaults

REV SPARK MAX

sparkMax.restoreFactoryDefaults();

Phoenix Framework

talonSRX.configFactoryDefault();

Select Encoder

This is a brushed motor feature and not needed for using brushless motors with SPARK MAX

REV SPARK MAX

encoder = sparkMax.getEncoder();
encoder.setInverted(false);
sparkMax.setFeedbackDevice(encoder);

Phoenix Framework

talonSRX.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, kPIDLoopIdx, Constants.kTimeoutMs);
talonSRX.setSensorPhase(true);

Set closed loop constants

REV SPARK MAX

pidController.setP(kP);
pidController.setI(kI);
pidController.setD(kD);
pidController.setIZone(kIz);
pidController.setFF(kFF);
pidController.setOutputRange(kMinOutput, kMaxOutput);

Phoenix Framework

talonSRX.configNominalOutputForward(0, kTimeoutMs);
talonSRX.configNominalOutputReverse(0, kTimeoutMs);
talonSRX.configPeakOutputForward(kMaxOutput, kTimeoutMs);
talonSRX.configPeakOutputReverse(kMinOutput, kTimeoutMs);

talonSRX.config_kF(kPIDLoopIdx, kP, kTimeoutMs);
talonSRX.config_kP(kPIDLoopIdx, kI, kTimeoutMs);
talonSRX.config_kI(kPIDLoopIdx, kD, kTimeoutMs);
talonSRX.config_kD(kPIDLoopIdx, kF, kTimeoutMs);

Run Closed Loop Velocity Control

For this example velocity is set at 500 RPM

REV SPARK MAX

pidController.setReference(500.0, ControlType.kVelocity);

Phoenix Framework

// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms  = 500.0 * 4096 / 600;
talonSRX.set(ControlMode.Velocity, VelocityinUnitsPer100ms ); 

Read RPM of Motor

REV SPARK MAX

encoder.getVelocity();

Phoenix Framework

talonSRX.getSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;

Read Applied Output Percent

REV SPARK MAX

sparkMax.getAppliedOutput();

Phoenix Framework

talonSRX.getMotorOutputPercent();

Run Closed Loop Position Control

This example runs a position control loop for 10 rotations.

REV SPARK MAX

pidController.setReference(10.0, ControlType.kPosition);

Phoenix Framework

targetPositionRoations = 10.0 * 4096;
talonSRX.set(ControlMode.Position, targetPositionRotations);

Change Units from 'rotations' to 'inches'

This example assumes a 4" wheel on a 15:1 reduction

REV SPARK MAX

encoder.setPositionFactor(M_PI * 4/15);

Phoenix Framwork

// No Equivellant

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

pidController.setReference(24.0, ControlType.kPosition);

Phoenix Framework

targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX.set(ControlMode.Position, targetPositionRotations);

Save Parameters

REV SPARK MAX

// Run after all parameters are set in RobotInit()
sparkMax.burnFlash();

Phoenix Framework

//Automatic

Follow another device

REV SPARK MAX

sparkMax1.follow(sparkMax2);

Phoenix Framework

talonSRX1.follow(talonSRX2);

Invert a device

REV SPARK MAX

sparkMax.setInverted(true);

Phoenix Framework

talonSRX.setInverted(true);

Configure a limit switch

REV SPARK MAX

forwardLimit = sparkMax.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);

Phoenix Framework

talonSRX.configForwardLimitSwitchSource(
                                        LimitSwitchSource.LimitSwitchSource_FeedbackConnector,
                                        LimitSwitchNormal.LimitSwitchNormal_NormallyOpen,
                                        kTimeoutMs);

Disable a limit switch

REV SPARK MAX

forwardLimit.EnableLimitSwitch(false);

Phoenix Framework

talonSRX.overrideLimitSwitchesEnable(true);

C++

Include Library

REV SPARK MAX

#include "rev/CANSparkMax.h"

Phoenix Framework

#include "ctre/Phoenix.h"

Create Object CAN ID 1

REV SPARK MAX

rev::CANSparkMax sparkMax{1, rev::CANSparkMax::MotorType::kBrushless};

Phoenix Framework

TalonSRX* talon = new TalonSRX(1);

Reset Factory Defaults

REV SPARK MAX

sparkMax.RestoreFactoryDefaults();

Phoenix Framework

talon->ConfigFactoryDefault();

Select Encoder

This is a brushed motor feature and not needed for using brushless motors with SPARK MAX.

REV SPARK MAX

rev::CANEncoder encoder = sparkMax.GetEncoder(rev::CANEncoder::EncoderType::kQuadrature, 4096);
encoder.SetInverted(true);
sparkMax.SetFeedbackDevice(encoder);

Phoenix Framework

talonSRX->ConfigSelectedFeedbackSensor(FeedbackDevice::CTRE_MagEncoder_Relative, 0, kTimeoutMs);
talonSRX->SetSensorPhase(true);

Set closed loop constants

REV SPARK MAX

rev::CANPIDController pidController = sparkMax.GetPIDController();
pidController.SetFeedbackDevice(encoder);

pidController.SetP(kP);
pidController.SetI(kI);
pidController.SetD(kD);
pidController.SetIZone(kIz);
pidController.SetFF(kFF);
pidController.SetOutputRange(kMinOutput, kMaxOutput);

Phoenix Framework

talonSRX->ConfigNominalOutputForward(0, kTimeoutMs);
talonSRX->ConfigNominalOutputReverse(0, kTimeoutMs);
talonSRX->ConfigPeakOutputForward(1, kTimeoutMs);
talonSRX->ConfigPeakOutputReverse(-1, kTimeoutMs);

 talonSRX->Config_kF(kPIDLoopIdx, 0.1097, kTimeoutMs);
talonSRX->Config_kP(kPIDLoopIdx, 0.22, kTimeoutMs);
talonSRX->Config_kI(kPIDLoopIdx, 0.0, kTimeoutMs);
talonSRX->Config_kD(kPIDLoopIdx, 0.0, kTimeoutMs);

Run Closed Loop Velocity Control

For this example velocity is set at 500 RPM

REV SPARK MAX

pidController.SetReference(500.0, rev::ControlType::kVelocity);

Phoenix Framework

"// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms  = 500.0 * 4096 / 600;
talonSRX->Set(ControlMode::Velocity, VelocityinUnitsPer100ms ); 

Read RPM of Motor

REV SPARK MAX

encoder.GetVelocity();

Phoenix Framework

talonSRX->GetSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;

Read Applied Output Percent

REV SPARK MAX

sparkMax.GetAppliedOutput();

Phoenix Framework

talonSRX->GetMotorOutputPercent();

Run Closed Loop Position Control

This example runs a position control loop for 10 rotations.

REV SPARK MAX

pidController.SetReference(10.0, rev::ControlType::kPosition);

Phoenix Framework

targetPositionRotations = 10.0 * 4096;
talonSRX->Set(ControlMode::Position, targetPositionRotations);;

Change Units from 'rotations' to 'inches'

This example assumes a 4" wheel on a 15:1 reduction

REV SPARK MAX

encoder.SetPositionFactor( M_PI * 4 / 15 );

Phoenix Framwork

// No Equivellant

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

pidController.SetReference(24.0, rev::ControlType::kPosition);

Phoenix Framework

targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX->Set(ControlMode::Position, targetPositionRotations);

Save Parameters

REV SPARK MAX

// Run after all parameters are set in RobotInit()
sparkMax.BurnFlash();

Phoenix Framework

//Automatic

Follow another device

REV SPARK MAX

sparkMax1.Follow(sparkMax2);

Phoenix Framework

talonSRX1->Follow(*talon2);

Invert a device

REV SPARK MAX

sparkMax.SetInverted(true);

Phoenix Framework

talonSRX->SetInverted(true);

Configure a limit switch

REV SPARK MAX

rev::CANDigitalInput forwardLimit = sparkMax.GetForwardLimitSwitch(rev::CANDigitalInput::LimitSwitchPolarity::kNormallyOpen);

Phoenix Framework

talonSRX->ConfigForwardLimitSwitchSource(
					LimitSwitchSource::LimitSwitchSource_FeedbackConnector,
					LimitSwitchNormal::LimitSwitchNormal_NormallyOpen,
					kTimeoutMs);

Disable a limit switch

REV SPARK MAX

forwardLimit.EnableLimitSwitch(false);

Phoenix Framework

talonSRX->OverrideLimitSwitchesEnable(true);