Spline Encoder Firmware 26.1.4

• Improve handling of CAN messages and responses
• Add ability to zero the sensor angle by holding down the button for 1s

Spline Encoder Firmware 26.1.3

• Fixes the issue where velocity average depth would not take effect after being changed
• No longer resets the angle offset when restoring defaults
• Sensor configuration changes will not reflect on the 6-pin JST
• LEDs now indicate turning direction

Spline Encoder Firmware 26.1.2

• Adds new status period get/set commands
• Fixes issue where updating from other firmware versions will reset the CAN ID
• Adds the ability to adjust the absolute position output (period, minimum high time, minimum low time)
• Updates default status frame periods
  • Status 0 - 250ms
  • Status 1 - 100ms
  • Status 2 - 20ms
  • Status 3 - 20ms
  • Status 4 - 20ms

Spline Encoder Firmware 26.1.1

• Fixes 'Set Periodic Frame Period' response command
• Fixes 'Get Periodic Frame Period' command
• Fixes angle conversion factor not being applied to the angle value

Spline Encoder Firmware 26.1.0

• Adds angle conversion factor
• Improves velocity measurements
• Adds velocity averaging
• Fixes led status flickering when intermittent errors occur
• Adds identify command
• Adds raw angle position in status 2
• Corrects angle offset behavior

Note: ABI output does not currently respect the inverted setting

SPARK MAX firmware 25.0.2

• Fixes follower mode bug where motor will continue to spin after receiving command to stop following

SPARK MAX Firmware 25.0.1

Note for updating

If you have any SPARK MAXes on your bus that are running firmware version 25.0.0, turn the robot power off and update those SPARK MAXes to version 25.0.1 individually. Once all devices on the bus are running either version 25.0.1 or version 24.0.1 or earlier, you can turn the robot back on and update the remaining devices in bulk.

Fixes

• Fixes a bug causing high CAN utilization when devices with 24.0.x firmware are present and Hardware Client is opened

SPARK MAX Firmware 25.0.0

NOTE: We recommend performing a Factory Reset and then Persisting Parameters on every SPARK updated to firmware 25.0.0 and later for the first time.

Fixes

New Features

• Adds support for zero-centered mode for duty cycle sensor
• Adds MAXMotion
• Only sends periodic CAN frames if they are needed (except for frames 0 and 1, which are enabled by default)
• Optimizes parameter operations for lower CAN traffic
• Reworks the CAN frames for better performance and reliability
• Supports standard roboRIO Universal Heartbeat
• Reorganizes faults to differentiate between warnings (which will not stop the motor) and faults (which will stop the motor)
• Slows down status frames when other devices are updating firmware

SPARK Flex firmware 25.0.2

• Improves CAN handling to fix CAN timeouts
• Fixes analog position when using a Flex Dock in brushless mode.
• Fixes follower mode bug where motor will continue to spin after receiving command to stop following
• Fixes incorrect default for kDutyCyclePrescaler on SPARK Flex
• Fixes encoder readings in brushed mode when using Flex Dock
• Fixes temperature readings in brushed mode when using Flex Dock

SPARK Flex Firmware 25.0.0

NOTE: We recommend performing a Factory Reset and then Persisting Parameters on every SPARK updated to firmware 25.0.0 and later for the first time.

Fixes

• Fixes issue where burning flash would fail occasionally
• Fixes case where CAN message handling can be delayed by a few milliseconds
• Improves updating a downstream PDH, PH, or Servo Hub

New Features

• Adds MAXMotion
• Supports standard roboRIO Universal Heartbeat
• Only sends periodic CAN frames if they are needed (except for frames 0 and 1, which are enabled by default)
• Optimizes parameter operations for lower CAN traffic
• Reworks the CAN frames for better performance and reliability
• Reorganizes faults to differentiate between warnings (which will not stop the motor) and faults (which will stop the motor)
• Slows down status frames when other devices are updating firmware
• Adds support for Flex Dock
• Adds support for zero-centered mode for duty cycle sensor