Package frc.lib.lowlevel

Class SparkTap

java.lang.Object

frc.lib.lowlevel.SparkTap

public class SparkTap
extends Object

High-performance Spark Max CAN Interceptor. Provides zero-JNI, sub-millisecond access to motor telemetry via shared native memory.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SparkTap.Frame	Represents the different CAN status frames sent by the Spark Max.
class	SparkTap.MotorView	Dedicated view into the shared CAN telemetry table for a specific motor.

Method Summary

Modifier and Type	Method	Description
static SparkTap	getInstance()	Returns the singleton instance of SparkTap.
SparkTap.MotorView	getMotor(int deviceId)	Returns a dedicated, zero-allocation view into a specific motor's status data.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

getInstance

public static SparkTap getInstance()

Returns the singleton instance of SparkTap.

Returns:

The SparkTap instance.

getMotor

public SparkTap.MotorView getMotor(int deviceId)

Returns a dedicated, zero-allocation view into a specific motor's status data.

Parameters:

deviceId - The CAN ID of the motor to access (0-63).

Returns:

A MotorView providing access to the specified motor's telemetry.

Throws:

IllegalArgumentException - if the deviceId is out of range.