REVRobotics
and/or REVColorSensorV3
items (whichever ones are present)OK
button to uninstall them.CANError
has been renamed to REVLibError
.ColorMatch.makeColor()
and the ColorShim
class have been removed. Use the WPILib Color
class instead.CANSparkMax.getX()
functions.CANEncoder.getCPR()
with getCountsPerRevolution()
.CANDigitalInput.LimitSwitch
.CANSparkMax.getAlternateEncoder()
with CANSparkMax.getAlternateEncoder(int countsPerRev)
.CANSparkMax.setMotorType()
. You can only set the motor type in the constructor now.SparkMax
with PWMSparkMax
, which is built into WPILib.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.CANPIDController.getSmartMotionAccelStrategy()
now returns SparkMaxPIDController.AccelStrategy
.CANSparkMax
object for a device that already has onecountsPerRev
value for a NEO hall sensorCANSparkMax.getX()
method using different settings than were used previously in the programCANSparkMax
(or another object retrieved from it) after close()
has been calledCANSparkMax.getX()
method more than once for a single devicecannot 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
.CANEncoder
is replaced by RelativeEncoder
.CANEncoder is replaced by
SparkMaxRelativeEncoderand
SparkMaxAlternateEncoder`.CANPIDController
is replaced by SparkMaxPIDController
.CANSensor
is replaced by MotorFeedbackSensor
.ControlType
is replaced by CANSparkMax.ControlType
.EncoderType
is replaced by SparkMaxRelativeEncoder.Type
.Spark MAX Set Inverted.vi
and Spark MAX Get Inverted.vi
ControlType.kVelocity
and ControlType.kVoltage
RevPhysicsSim.getInstance().addSparkMax(sparkMax, DCMotor.getNEO(1))
from simulationInit()
RevPhysicsSim.GetInstance.run()
from simulationPeriodic()
setReference()
will only update the velocity of the primary encoder, even if SparkMaxPIDController.setFeedbackDevice()
was called with a different feedback sensorCANSparkMax.getMotorType()
no longer uses the Get Parameter API, which means that it is safe to call frequentlyCANSparkMax.getX()
methods no longer create a new object on every callSparkMaxPIDController.setIAccum()
only works while the control mode is active