SparkMax Motor Controller Introduction

SparkMax motor controller is produced by REVRobotics, it can use on both brushed and brushless motors.

Software API: REVLib

Motor Definition

Note

Every configurations is not required, you can config all the settings you need (It will use the default or previous settings if not set)

Attention

VendorDeps: REVLib

public SparkMax motor; //Motor itself
public SparkMaxConfig config; //motor config
public RelativeEncoder encoder; //built in encoder

pubic void configMotor(){
    motor = new SparkMax(0, MotorType.kBrushless);//you can configure the motor type bewteen kBrushless and kBrushed
    config = new SparkMaxConfig();

    config
        .idleMode(IdleMode.kBrake) //The motor mode, kBrake will stop motor immediately otherwise will spin untill stop naturally
        .inverted(false) //configure if the motor inverted
        .follow(0); //you can set the motor followed to another motor, usually used in 4 motor KOP chassis

    motor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters); //apply settings to the motor
}

The Differences between kBrake and kCoast

	kBrake	kCoast
Behaviours	stop instantly	spin untill stop naturally
code	IdleMode.kBrake	IdleMode.kCoast
common usage	Most of the time	CANCoder Calibrating

Note

check out the references: Closedloop Contol Configuring SparkMax