MAVRIC SparkMax ESC Library

A library for controlling SparkMax Electronic Speed Controllers using python and a CAN Bus.

Setup

Motor controllers must have ramping enabled if running at more than 50% power, otherwise the motor will try to instantly go to the power level and will stutter.

Dependancies

• Python 3 (Not tested on 2.7)
• python-can (https://python-can.readthedocs.io/en/master/)

Example Code

from SparkCAN import SparkBus
import time

#Instantiate SparkBus object
bus = SparkBus(channel="can0", bustype='socketcan', bitrate=1000000)
#Create a new controller with CAN id 1
sparkESC = bus.init_controller(1)
time.sleep(1)
#Set motor to 50% power
sparkESC.percent_output(.5) #50%
#Prints the velocity 10 times, you should be able to see it ramp up as the motor gets up to speed.
for i in range(10):
    print(sparkESC.velocity)
    time.sleep(0.001)
#wait 5 seconds
time.sleep(5)
#Set motor to 0% power
sparkESC.percent_output(0)