Unable to get CAN Spark Max to run to position

li8004 · February 25, 2023, 4:23pm

We’ve been trying to run a position closed loop control using our CAN Spark Maxes for our elevator, and while we have our encoders and PID control system all setup, we’re confused about some of the methods used with the SparkMaxPIDController to actually get the motor to automatically run to a position with the push of a button. Could anyone clear this up? Thanks.

Fletch1373 · February 25, 2023, 5:43pm

Can you explain specifically what you’re confused about? Also, if you could share your code (ideally as a github link)?

li8004 · February 25, 2023, 6:07pm

Here is what we have so far:

github.com

WARbotics/Charged-Up-2023/blob/main/W.A.Robotics/src/main/java/frc/robot/components/Elevator.java

package frc.robot.components;

import com.ctre.phoenix.sensors.CANCoderStatusFrame;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxRelativeEncoder;
import com.revrobotics.CANSparkMax.ControlType;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.SparkMaxPIDController;

public class Elevator {

    private CANSparkMax elevatorMotor;
    private RelativeEncoder elevatorEncoder;
    private SparkMaxPIDController elevatorPIDController;
    public double kP, kI, kD, kIz, kFF, kMaxOutput, kMinOutput;
    

    public Elevator (CANSparkMax elevatorMotor){
        this.elevatorMotor = elevatorMotor;
        this.elevatorEncoder = elevatorMotor.getEncoder(SparkMaxRelativeEncoder.Type.kHallSensor, 42);

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