EasySpark (Class)

This is the most important class in EasySpark. It uses an EasySpark Config object and creates all of the stuff you need for a SparkMax.

It will contain:

Item	Name in Code
ID	id
Name	name
SparkControllerInfo Object	scInfo
Constants	constants
Controller Object	controller
Spark Object	spark
Spark Encoder	encoder
PID Controller/Closed Loop Controller	PIDcontroller
CANcoder Object	CANcoder
DutyCycleEncoder Object	DutyCycleEncoder

Functions

getPos()

Gets the position of the SparkMax in rotations. If there is a CANcoder or DutyCycleEncoder, it will be used for to get the position by default.

getVel()

Gets the current velocity of the SparkMax in rotations per minute (RPM). If there is a CANcoder, it will be used to get the velocity by default.

setDutyCycle(double percent)

Sets the duty cycle of a SparkMax.

setVoltage(double voltage)

Sets the voltage of the SparkMax. It will use the constant maxVoltage to limit positive and negative values.

setPosition(double position)

Sets the desired position of the SparkMax.