utils.spark_utils 

 1import rev
 2
 3
 4def GetSparkSignalsPositionControlConfig(
 5    signalConfig: rev.SignalsConfig,
 6    periodMs: int
 7) -> rev.SignalsConfig:
 8    """
 9    Configure telemetry signal frames for a position-controlled SparkMax.
10
11    Enables signals needed for position control and SysId logging:
12    bus voltage, applied output, motor temperature, output current,
13    primary encoder position, and primary encoder velocity.
14
15    Args:
16        signalConfig: the SignalsConfig object to update
17        periodMs: the period, in milliseconds, at which signals are transmitted
18
19    Returns:
20        The updated SignalsConfig for method chaining
21    """
22    (
23        signalConfig
24        .busVoltageAlwaysOn(True)
25        .busVoltagePeriodMs(periodMs)
26        .appliedOutputAlwaysOn(True)
27        .appliedOutputPeriodMs(periodMs)
28        .motorTemperatureAlwaysOn(True)
29        .motorTemperaturePeriodMs(periodMs)
30        .outputCurrentAlwaysOn(True)
31        .outputCurrentPeriodMs(periodMs)
32        .primaryEncoderPositionAlwaysOn(True)
33        .primaryEncoderPositionPeriodMs(periodMs)
34        .primaryEncoderVelocityAlwaysOn(True)
35        .primaryEncoderVelocityPeriodMs(periodMs)
36    )
37    return signalConfig
def GetSparkSignalsPositionControlConfig( signalConfig: rev._rev.SignalsConfig, periodMs: int) -> rev._rev.SignalsConfig: 
 5def GetSparkSignalsPositionControlConfig(
 6    signalConfig: rev.SignalsConfig,
 7    periodMs: int
 8) -> rev.SignalsConfig:
 9    """
10    Configure telemetry signal frames for a position-controlled SparkMax.
11
12    Enables signals needed for position control and SysId logging:
13    bus voltage, applied output, motor temperature, output current,
14    primary encoder position, and primary encoder velocity.
15
16    Args:
17        signalConfig: the SignalsConfig object to update
18        periodMs: the period, in milliseconds, at which signals are transmitted
19
20    Returns:
21        The updated SignalsConfig for method chaining
22    """
23    (
24        signalConfig
25        .busVoltageAlwaysOn(True)
26        .busVoltagePeriodMs(periodMs)
27        .appliedOutputAlwaysOn(True)
28        .appliedOutputPeriodMs(periodMs)
29        .motorTemperatureAlwaysOn(True)
30        .motorTemperaturePeriodMs(periodMs)
31        .outputCurrentAlwaysOn(True)
32        .outputCurrentPeriodMs(periodMs)
33        .primaryEncoderPositionAlwaysOn(True)
34        .primaryEncoderPositionPeriodMs(periodMs)
35        .primaryEncoderVelocityAlwaysOn(True)
36        .primaryEncoderVelocityPeriodMs(periodMs)
37    )
38    return signalConfig

Configure telemetry signal frames for a position-controlled SparkMax.

Enables signals needed for position control and SysId logging: bus voltage, applied output, motor temperature, output current, primary encoder position, and primary encoder velocity.

Args: signalConfig: the SignalsConfig object to update periodMs: the period, in milliseconds, at which signals are transmitted

Returns: The updated SignalsConfig for method chaining