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Migrating from CTRE Phoenix to SPARK MAX
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.

REV SPARK MAX
Phoenix Framework
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.ctre.phoenix.motorcontrol.can.*;
import com.ctre.phoenix.motorcontrol.*;

REV SPARK MAX
Phoenix Framework
private CANSparkMax sparkMax = new CANSparkMax(deviceID, MotorType.kBrushless);
TalonSRX talonSRX = new TalonSRX(1);

REV SPARK MAX
Phoenix Framework
sparkMax.restoreFactoryDefaults();
talonSRX.configFactoryDefault();

This is a brushed motor feature and not needed for using brushless motors with SPARK MAX
REV SPARK MAX
Phoenix Framework
encoder = sparkMax.getEncoder();
encoder.setInverted(false);
sparkMax.setFeedbackDevice(encoder);
talonSRX.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, kPIDLoopIdx, Constants.kTimeoutMs);
talonSRX.setSensorPhase(true);

REV SPARK MAX
Phoenix Framework
pidController.setP(kP);
pidController.setI(kI);
pidController.setD(kD);
pidController.setIZone(kIz);
pidController.setFF(kFF);
pidController.setOutputRange(kMinOutput, kMaxOutput);
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);

For this example velocity is set at 500 RPM
REV SPARK MAX
Phoenix Framework
pidController.setReference(500.0, ControlType.kVelocity);
// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms = 500.0 * 4096 / 600;
talonSRX.set(ControlMode.Velocity, VelocityinUnitsPer100ms );

REV SPARK MAX
Phoenix Framework
encoder.getVelocity();
talonSRX.getSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;

REV SPARK MAX
Phoenix Framework
sparkMax.getAppliedOutput();
talonSRX.getMotorOutputPercent();

This example runs a position control loop for 10 rotations.
REV SPARK MAX
Phoenix Framework
pidController.setReference(10.0, ControlType.kPosition);
targetPositionRoations = 10.0 * 4096;
talonSRX.set(ControlMode.Position, targetPositionRotations);

This example assumes a 4" wheel on a 15:1 reduction
REV SPARK MAX
Phoenix Framwork
encoder.setPositionFactor(M_PI * 4/15);
// No Equivellant

This example assumes a 4" wheel on a 15:1 reduction to move 2 feet (24 inches).
REV SPARK MAX
Phoenix Framework
pidController.setReference(24.0, ControlType.kPosition);
targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX.set(ControlMode.Position, targetPositionRotations);

REV SPARK MAX
Phoenix Framework
// Run after all parameters are set in RobotInit()
sparkMax.burnFlash();
//Automatic

REV SPARK MAX
Phoenix Framework
sparkMax1.follow(sparkMax2);
talonSRX1.follow(talonSRX2);

REV SPARK MAX
Phoenix Framework
sparkMax.setInverted(true);
talonSRX.setInverted(true);

REV SPARK MAX
Phoenix Framework
forwardLimit = sparkMax.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
talonSRX.configForwardLimitSwitchSource(
LimitSwitchSource.LimitSwitchSource_FeedbackConnector,
LimitSwitchNormal.LimitSwitchNormal_NormallyOpen,
kTimeoutMs);

REV SPARK MAX
Phoenix Framework
forwardLimit.EnableLimitSwitch(false);
talonSRX.overrideLimitSwitchesEnable(true);

REV SPARK MAX
Phoenix Framework
#include "rev/CANSparkMax.h"
#include "ctre/Phoenix.h"

REV SPARK MAX
Phoenix Framework
rev::CANSparkMax sparkMax{1, rev::CANSparkMax::MotorType::kBrushless};
TalonSRX* talon = new TalonSRX(1);

REV SPARK MAX
Phoenix Framework
sparkMax.RestoreFactoryDefaults();
talon->ConfigFactoryDefault();

This is a brushed motor feature and not needed for using brushless motors with SPARK MAX.
REV SPARK MAX
Phoenix Framework
rev::CANEncoder encoder = sparkMax.GetEncoder(rev::CANEncoder::EncoderType::kQuadrature, 4096);
encoder.SetInverted(true);
sparkMax.SetFeedbackDevice(encoder);
talonSRX->ConfigSelectedFeedbackSensor(FeedbackDevice::CTRE_MagEncoder_Relative, 0, kTimeoutMs);
talonSRX->SetSensorPhase(true);

REV SPARK MAX
Phoenix Framework
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);
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);

For this example velocity is set at 500 RPM
REV SPARK MAX
Phoenix Framework
pidController.SetReference(500.0, rev::ControlType::kVelocity);
"// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms = 500.0 * 4096 / 600;
talonSRX->Set(ControlMode::Velocity, VelocityinUnitsPer100ms );

REV SPARK MAX
Phoenix Framework
encoder.GetVelocity();
talonSRX->GetSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;

REV SPARK MAX
Phoenix Framework
sparkMax.GetAppliedOutput();
talonSRX->GetMotorOutputPercent();

This example runs a position control loop for 10 rotations.
REV SPARK MAX
Phoenix Framework
pidController.SetReference(10.0, rev::ControlType::kPosition);
targetPositionRotations = 10.0 * 4096;
talonSRX->Set(ControlMode::Position, targetPositionRotations);;

This example assumes a 4" wheel on a 15:1 reduction
REV SPARK MAX
Phoenix Framwork
encoder.SetPositionFactor( M_PI * 4 / 15 );
// No Equivellant

This example assumes a 4" wheel on a 15:1 reduction to move 2 feet (24 inches).
REV SPARK MAX
Phoenix Framework
pidController.SetReference(24.0, rev::ControlType::kPosition);
targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX->Set(ControlMode::Position, targetPositionRotations);

REV SPARK MAX
Phoenix Framework
// Run after all parameters are set in RobotInit()
sparkMax.BurnFlash();
//Automatic

REV SPARK MAX
Phoenix Framework
sparkMax1.Follow(sparkMax2);
talonSRX1->Follow(*talon2);

REV SPARK MAX
Phoenix Framework
sparkMax.SetInverted(true);
talonSRX->SetInverted(true);

REV SPARK MAX
Phoenix Framework
rev::CANDigitalInput forwardLimit = sparkMax.GetForwardLimitSwitch(rev::CANDigitalInput::LimitSwitchPolarity::kNormallyOpen);
talonSRX->ConfigForwardLimitSwitchSource(
LimitSwitchSource::LimitSwitchSource_FeedbackConnector,
LimitSwitchNormal::LimitSwitchNormal_NormallyOpen,
kTimeoutMs);

REV SPARK MAX
Phoenix Framework
forwardLimit.EnableLimitSwitch(false);
talonSRX->OverrideLimitSwitchesEnable(true);
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On this page
JAVA
Include Library
Create Object CAN ID 1
Reset Factory Defaults
Select Encoder
Set closed loop constants
Run Closed Loop Velocity Control
Read RPM of Motor
Read Applied Output Percent
Run Closed Loop Position Control
Change Units from 'rotations' to 'inches'
Run Closed Loop Position Control for a set distance
Save Parameters
Follow another device
Invert a device
Configure a limit switch
Disable a limit switch
C++
Include Library
Create Object CAN ID 1
Reset Factory Defaults
Select Encoder
Set closed loop constants
Run Closed Loop Velocity Control
Read RPM of Motor
Read Applied Output Percent
Run Closed Loop Position Control
Change Units from 'rotations' to 'inches'
Run Closed Loop Position Control for a set distance
Save Parameters
Follow another device
Invert a device
Configure a limit switch
Disable a limit switch