SparkClosedLoopController

class rev.SparkClosedLoopController

Bases: pybind11_object

class ArbFFUnits(value: SupportsInt | SupportsIndex)

Bases: pybind11_object

Units for arbitrary feed-forward

Members:

kVoltage

kPercentOut

kPercentOut = <ArbFFUnits.kPercentOut: 1>

kVoltage = <ArbFFUnits.kVoltage: 0>

SparkClosedLoopController.ArbFFUnits.name -> str

property value

getControlType() → rev._rev.SparkLowLevel.ControlType

Get the selected control type used when SetSetpoint() was called.

Returns:

The selected control type

getIAccum() → rev._rev.Signal_double

Get the I accumulator of the closed loop controller. This is useful when wishing to see what the I accumulator value is to help with PID tuning

Returns:

Signal containing the value of the I accumulator

getMAXMotionSetpointPosition() → rev._rev.Signal_double

Get the MAXMotion internal setpoint position.

This will be 0 if the controller is not in a MAXMotion control mode.

Returns:

Signal containing the MAXMotion internal setpoint position in rotations or units specified by the conversion factor.

getMAXMotionSetpointVelocity() → rev._rev.Signal_double

Get the MAXMotion internal setpoint velocity.

This will be 0 if the controller is not in a MAXMotion control mode.

Returns:

Signal containing the MAXMotion internal setpoint velocity in rotations per minute or units specified by the conversion factor.

getSelectedSlot() → rev._rev.Signal_ClosedLoopSlot

Get the selected closed loop PID slot.

Returns:

Signal containing the selected closed loop PID slot

getSetpoint() → rev._rev.Signal_double

Get the internal setpoint of the closed loop controller.

Returns:

Signal containing the internal setpoint

isAtSetpoint() → rev._rev.Signal_bool

Determine if the setpoint has been reached.

Returns:

Signal containing true if the setpoint is reached; false otherwise

setIAccum(iAccum: SupportsFloat | SupportsIndex) → rev._rev.REVLibError

Set the I accumulator of the closed loop controller. This is useful when wishing to force a reset on the I accumulator of the Closed Loop Controller. You can also preset values to see how it will respond to certain I characteristics

To use this function, the controller must be in a closed loop control mode by calling SetSetpoint()

Parameters:

iAccum – The value to set the I accumulator to

Returns:

REVLibError::kOk if successful

setSetpoint(setpoint: SupportsFloat | SupportsIndex, ctrl: rev._rev.SparkLowLevel.ControlType, slot: rev._rev.ClosedLoopSlot = <ClosedLoopSlot.kSlot0: 0>, arbFeedforward: SupportsFloat | SupportsIndex = 0, arbFFUnits: rev._rev.SparkClosedLoopController.ArbFFUnits = <ArbFFUnits.kVoltage: 0>) → rev._rev.REVLibError

Set the controller setpoint based on the selected control mode.

Parameters:

• setpoint – The setpoint to set depending on the control mode. For: - basic duty cycle control this should be a value between -1 and 1 - Voltage Control: Voltage (volts) - Velocity Control: Velocity (RPM) - Position Control: Position (Rotations) - Current Control: Current (Amps). The units can be changed for position and velocity by a scale factor using AlternateEncoderConfig::PositionConversionFactor(), or ExternalEncoderConfig::PositionConversionFactor(), or EncoderConfig::PositionConversionFactor() or AlternateEncoderConfig::VelocityConversionFactor(), or ExternalEncoderConfig::VelocityConversionFactor(), or EncoderConfig::VelocityConversionFactor().

• ctrl – Is the control type

• slot – The ClosedLoopSlot to use

• arbFeedforward – A value from -32.0 to 32.0 which is a voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

• arbFFUnits – the units for arbitrary feed-forward

Returns:

REVLibError::kOk if successful