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SPARK MAX Overview
SPARK MAX Specifications
Getting Started with SPARK MAX
Status LED Patterns
Troubleshooting
Feature Description
Power and Motor Connections
Control Connections
Encoder Port
Data Port
Operating Modes
Motor Type - Brushed/Brushless Mode
Idle Mode - Brake/Coast Mode
Control Interfaces
Closed Loop Control
Recovery Mode
Alternate Encoder Mode
REV Hardware Client
Getting Started with the REV Hardware Client
Running a Motor
Telemetry Tab
Software Resources
SPARK MAX Firmware Changelog
REVLib Information
JAVA API Documentation
C++ API Documentation
SPARK MAX Code Examples
Configuration Parameters
Migrating from CTRE Phoenix to SPARK MAX
Tips and Tricks
Anderson Powerpole Connectors
SPARK MAX Client - Legacy
Getting Started with the SPARK MAX Client
SPARK MAX Client Troubleshooting
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REVLib Information
Below you will find information on how to download and install REVLib for LabVIEW, Java, and C++.
Language
Current REVLib Version
Documentation
​LabVIEW​
2022.1.2
Embedded (Press Ctrl-H)
​Java​
2022.1.1
​Java Docs​
​C++​
2022.1.1
​C++ Docs​

Beginning with 2022, The SPARK MAX API and the Color Sensor V3 API have been merged into a unified library called REVLib. You need to make sure that you have uninstalled those old libraries before you install REVLib.

  1. 1.
    Ensure that the old SPARK MAX API and/or Color Sensor V3 API packages are uninstalled.
  2. 2.
    ​Install the REVLib package.
  3. 3.
    Opening a project that used the old APIs should work fine. When it is loading, it may show that there are some missing VIs, but eventually LabVIEW should find the new VIs automatically.

  1. 1.
    Open your robot project in VSCode.
  2. 2.
    Click on the WPI icon in the corner to open the WPI Command Pallet.
  3. 3.
    Select Manage Vendor Libraries.
  4. 4.
    Select Manage Current Libraries.
  5. 5.
    Check the REVRobotics and/or REVColorSensorV3 items (whichever ones are present)
  6. 6.
    Click the OK button to uninstall them.
  7. 7.
    Install REVLib for C++ and Java.

LabVIEW breaking changes
There have been no breaking changes in REVLib for LabVIEW users, so installing REVLib will not require any code changes.
C++/Java breaking changes
  • C++/Java: CANError has been renamed to REVLibError.
  • Java: ColorMatch.makeColor() and the ColorShim class have been removed. Use the WPILib Color class instead.
  • C++/Java: Deleted deprecated constructors, methods, and types
    • Replace deprecated constructors with CANSparkMax.getX() functions.
    • Replace CANEncoder.getCPR() with getCountsPerRevolution().
    • Remove all usages of CANDigitalInput.LimitSwitch.
    • Replace CANSparkMax.getAlternateEncoder() with CANSparkMax.getAlternateEncoder(int countsPerRev).
    • Remove all usages of CANSparkMax.setMotorType(). You can only set the motor type in the constructor now.
    • Replace SparkMax with PWMSparkMax, which is built into WPILib.
  • Java: CANSparkMax.get() now returns the velocity setpoint set by set(double speed) rather than the actual velocity, in accordance with the WPILib MotorController API contract.
  • C++/Java: CANPIDController.getSmartMotionAccelStrategy() now returns SparkMaxPIDController.AccelStrategy.
  • C++/Java: Trying to do the following things will now throw an exception:
    • Creating a CANSparkMax object for a device that already has one
    • Specifying an incorrect countsPerRev value for a NEO hall sensor
    • Java: Calling a CANSparkMax.getX() method using different settings than were used previously in the program
    • Java: Trying to use a CANSparkMax (or another object retrieved from it) after close() has been called
    • C++: Calling a CANSparkMax.getX() method more than once for a single device
  • C++/Java: Deprecated classes in favor of renamed versions
    • C++ users will get cannot declare field to be of abstract type errors until they replace their object declarations with ones for the new classes. Java users will be able to continue to use the old classes through the 2022 season.
    • AlternateEncoderType is replaced by SparkMaxAlternateEncoder.Type.
    • CANAnalog is replaced by SparkMaxAnalogSensor.
    • CANDigitalInput is replaced by SparkMaxLimitSwitch.
    • Java: CANEncoder is replaced by RelativeEncoder.
    • C++: CANEncoder is replaced by SparkMaxRelativeEncoderandSparkMaxAlternateEncoder`.
    • CANPIDController is replaced by SparkMaxPIDController.
    • CANSensor is replaced by MotorFeedbackSensor.
    • ControlType is replaced by CANSparkMax.ControlType.
    • EncoderType is replaced by SparkMaxRelativeEncoder.Type.

REVLib LabVIEW - Version 2022.1.2
​​
​​
  1. 1.
    Download the latest REVLib LabVIEW package from the download link above.
  2. 2.
    Make sure LabVIEW for FRC 2022 is installed and updated.
  3. 3.
    Open the REVLib LabVIEW Package. The NI Package Manager should automatically open.
  4. 4.
    Click Next:
    ​
    ​
  5. 5.
    Once the installation is complete, you will be able to access the REVLib VIs at LabVIEW Functions Pallet -> WPI Robotics Library -> Third Party -> REV Robotics.
    ​
    ​

REVLib C++/Java - Version 2022.1.1
​​
​​

You can use the online method to install REVLib C++/Java if your development machine is connected to the internet:
  1. 1.
    Open your robot project in VSCode.
  2. 2.
    Click on the WPI icon in the corner to open the WPI Command Pallet.
  3. 3.
    Select Manage Vendor Libraries.
  4. 4.
    Select Install new library (online).
  5. 5.
    Enter the following installation URL and press ENTER:
    ​https://software-metadata.revrobotics.com/REVLib.json​

  1. 1.
    Download and unzip the latest REVLib into the C:\Users\Public\wpilib\2022 directory on Windows and ~/wpilib/2022 directory on Unix-like systems.
  2. 2.
    Follow the adding an offline-installed library instructions from WPILib.

For a list and description of all classes:

For a list and description of all classes:

  • LabVIEW: The version of NI Package Manager bundled with the FRC LabVIEW offline installer will no longer work when installing the REVLib package. NIPM must be updated to the latest version or installed from the FRC LabVIEW online installer to be able to install this package of REVLib for LabVIEW

  • LabVIEW: Adds Spark MAX Set Inverted.vi and Spark MAX Get Inverted.vi

  • SparkMaxPIDController.setIAccum() only works while the control mode is active
  • LabVIEW: VIs to get the SPARK MAX controller parameters do not work

  • Adds Linux aarch64 (64-bit ARM) build
  • C++: Adds missing GetAlternateEncoder(int countsPerRev) method

  • Java: Adds initial WPILib simulation support
    • Supports ControlType.kVelocity and ControlType.kVoltage
    • To use, make the following modifications to your Robot class (adjust parameters as necessary):
      • Call RevPhysicsSim.getInstance().addSparkMax(sparkMax, DCMotor.getNEO(1)) from simulationInit()
      • Call RevPhysicsSim.GetInstance.run() from simulationPeriodic()
      • These changes will keep the simulated position value up-to-date.
    • Limitations
      • When in simulation mode, calling setReference() will only update the velocity of the primary encoder, even if SparkMaxPIDController.setFeedbackDevice() was called with a different feedback sensor

  • C++: Fixes move semantics for supported classes

  • SparkMaxPIDController.setIAccum() only works while the control mode is active

  • C++/Java: Added the ability to set the rate of periodic frame 3

  • C++/Java: CANSparkMax.getMotorType() no longer uses the Get Parameter API, which means that it is safe to call frequently
  • Java: The CANSparkMax.getX() methods no longer create a new object on every call

  • SparkMaxPIDController.setIAccum() only works while the control mode is active
Software Resources - Previous
SPARK MAX Firmware Changelog
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SPARK MAX Code Examples
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Migrating from the SPARK MAX API and/or Color Sensor V3 API
Downloads and Installation Instructions
LabVIEW
C++ and Java
Java API Documentation
C++ API Documentation
Changelog
Version 2022.1.2
Version 2022.1.1
Version 2022.1.0
Version 2022.0.0