REVLib v2025.0.0 Beta 1 Release

This is the first beta release of REVLib for the 2025 FRC season. This initial release only includes changes for Java and C++. An update for LabVIEW will come at a later time.

This release requires WPILib 2025.1.1-beta-1 and SPARK MAX/Flex firmware v25.0.0 which can be downloaded and installed via the REV Hardware Client v1.6.7 Beta.

An offline installer for Java/C++ can be found here.

API documentation:

• Javadocs
• C++ docs

Major Changes

• Moves to a more declarative approach for configuring SPARK devices
  • Adds SparkFlexConfig and SparkMaxConfig which includes settings for different aspects of the SPARK
  • Adds SparkBase.configure() method to apply a SPARK config object's settings to one or more SPARK devices
• Adds support for MAXMotion
  • Adds control types MAXMotionPositionControl and MAXMotionVelocityControl
  • Adds MAXMotionConfig. Only trapezoidal profile is available at this time.
  • MAXMotion is not a drop-in replacement for Smart Motion, as you will need to retune PID gains.
• Adds better support for simulation
  • Moves away from REVPhysicsSim to offer better support for WPILib physics simulation instead
  • Revamps simulation GUI data, including brand new fields for auxiliary devices
  • Adds Sim classes for each auxiliary device, allowing for more thorough simulation in the WPILib injection style
  • Adds SparkSim.iterate() method which features simulated current limits, closed-loop control, and more
  • Adds SparkSimFaultManager for throwing simulated faults
• Improves experience with managing status signals from SPARK devices
  • Adds SignalsConfig
  • Automatically enables relevant status frames if a signal is requested by the user
• Adds a configAccessor field to SPARK classes for reading configuration parameters directly from the device

Breaking Changes

• Renames CANSparkFlex and CANSparkMax to SparkFlex and SparkMax respectively
• Renames SparkPIDController to SparkClosedLoopController
• Removes configuration parameter setter/getter methods. Use SparkBase.configure() and SparkBase.configAccessor instead.
• Removes burnFlash() and restoreFactoryDefaults(). Use the ResetMode and PersistMode options in SparkBase.configure() instead.
• Removes REVPhysicsSim in favor of new simulation system
• Moves all SPARK related classes into a spark package in Java and namespace in C++

Other Changes

• Deprecates kSmartMotion and SmartVelocity control types in favor of MAXMotionPositionControl and MAXMotionVelocityControl respectively.
• Adds pauseFollowerMode() and resumeFollowerMode()
• Allows follower mode to work even if the follower is not referenced in user code
• Improves getting faults/warnings by returning a Faults or Warnings object
• Adds hasActiveFault(), hasStickyFault(), hasActiveWarning(), and hasStickyWarning() to check if there is a fault/warning present at all on the SPARK device
• Adds support for specifying an absolute encoder's duty cycle start and end pulse widths in AbsoluteEncoderConfig

SPARK MAX Firmware 24.0.1

• Improves filtering of invalid PWM signals
  • Previously, noise on the signal wires could be occasionally be erroneously interpreted as a PWM signal, causing the motor to spin unexpectedly

SPARK MAX Firmware 24.0.0

Breaking Changes

• Moves the IAccum value to periodic status frame 7
  • Periodic status frame 7 is new to this release, and by default is sent every 250ms.

Enhancements

• Allows changing the CAN ID of a SPARK MAX connected directly via USB without affecting other SPARK devices on the CAN bus with the same CAN ID
• Makes changes towards improving the reliability of saving and persisting parameters

Bug fixes

• Fixes alternate encoder position accuracy
• Fixes the main quadrature encoder position jumping in brushed mode

SPARK MAX Firmware 1.6.3

Version 1.6.3

• Fixes issue where changing the inversion mode of the duty cycle absolute encoder with a zero offset specified would cause the physical zero position to change

SPARK MAX Firmware 1.6.2

Version 1.6.2

• Fixes critical issue where new parameters introduced in 1.6.0 were not being burned to flash correctly
• Fixes issue where new parameters were not being read back correctly despite being set correctly

SPARK MAX Firmware 1.6.1

Version 1.6.1

• Fixes duty cycle offset to match the inverted setting
• Fixes parameters being NaN after updating to 1.6.0
• Fixes burn flash command response

Version 1.6.0

• Adds new parameters for configuring hall sensor velocity measurement
• Adds support for duty cycle absolute encoders
• Adds new parameters to enable and configure position PID rollover

SPARK Flex Firmware 24.0.8

• Fixes bug in velocity calculation when changing the encoder average depth
• Fixes issue causing motor EEPROM to occasionally reload fully after disabling the motor, causing brief dropout of status frames

SPARK Flex Firmware 24.0.7

• Adds parameters for status frame periods
• Performs contextual validation on the sensor type parameter
• Always keeps the hall sensor active when in brushless mode, in addition to the specified sensor type
• Recalculates the hall angle more frequently to prevent lockup

SPARK Flex Firmware 24.0.6

• Fixes issue where an invalid sensor type for a given motor type can cause a sensor fault

SPARK Flex Firmware 24.0.5

• Improves handling of errors on the CAN bus
• Fixes incorrect EEPROM faults appearing
• Reduces boot time
• Properly handles the case where a CAN device sends a payload longer than 8 bytes
• Improves internal watchdog