Recover basic configuration from SparkMax and SparkFlex

[Ramtech59Sensei]

There is no way to recover basic configuration from SparkMax and SparkFlex. The new library for 2025 add the capabilities to recover
AbsoluteEncoderConfig , EncoderConfig, ect , but you need to still recover every basic parameters (like the IdleMode, Inverted and all other than are not grouped in classes ) from it getter and set it in a new configuration before applying to new controller.

Will be nice to get the configuration from the controller like:
SparkMaxConfig myconfig = new SparkMaxConfig(mymotor);
then be able to change the parameters wanted to change or have a dedicated BasicConfig class than can be access the configAccessor and return
a the instance of the controller's BasicConfig

from this hierarchy:

SparkMaxConfig
    inverted()
    idleMode()
    ...
    AbsoluteEncoderConfig
        inverted()
        ...
    EncoderConfig
        inverted()
        ...

To something like this?

SparkMaxConfig
    BasicConfig
        inverted()
        idleMode()
        ...
    AbsoluteEncoderConfig
        inverted()
        ...
    EncoderConfig
        inverted()
        ...

[Ramtech59Sensei]

I notice non of the config class have a getter. This mean there is no way to copy it with recover every value one by one , by adding a getter we can copy the whole config class at once
Also I can't find in the code a way to retrieve the all config classes from one controller example SparkMaxConfig, there is ways to apply one but not to get it

[jfabellera]

The reason there are no getters is because the config classes are not tied to any single device and are not meant to get the config parameter from the devices. They are only for setting. Instead you would use the configAccessor member (see #40 (comment)).

If you want to copy a config, you can use apply(). I linked to one of SparkBaseConfig's apply methods, but there is one for each config class, and multiple for configs with nested configs.

This mean there is no way to copy it with recover every value one by one

I don't understand what you mean by this. Could you explain further?

[jfabellera]

I am going to convert this to a discussion because I don't think it addresses a code issue with REVLib, rather a question/suggestion for the library.

[jfabellera]

Will be nice to get the configuration from the controller like:
SparkMaxConfig myconfig = new SparkMaxConfig(mymotor);

What would be the benefits of doing it this way?

If the user wants to retrieve a parameter from the device, they can use the configAccessor member of the SparkMax or SparkFlex class, which queries the value directly from the device.

Config classes are set up such that they are only structures that allow the user to declaratively specify which parameters they want to be set. If a parameter is not specified in the config, they will not be modified on the device unless kResetSafeParameters is passed when calling configure(), which sets most parameters to their defaults before setting the specified parameters.

If you want to configure the device from its current state, you would pass kNoResetSafeParameters when calling configure(). This would only set parameters that you specify without affecting the rest of the configuration. Doing it like this is more efficient than retrieving every single parameter from the device, modifying them, and sending them back to the device.

[jfabellera]

To something like this?

SparkMaxConfig
    BasicConfig
        inverted()
        idleMode()
        ...
    AbsoluteEncoderConfig
        inverted()
        ...
    EncoderConfig
        inverted()
        ...

In terms of organization, I agree that something like this would be better. The reason we have some straggler configurations is because they didn't all fit into one single category.

However, what would be the benefits of doing it like this, other than for conceptual organization?

[Ramtech59Sensei]

So every time I create a new Config object is an empty object with no parameters in it and as I change parameters those parameter are add to the Config Object.
I understand now how this class config work, then organization is irrelevant also
Now to be 100% sure
If I want to change the position conversion factor of my sparkmax or SparkFlex
I just n ed to create an object Config for the encoder, change position conversion factor and apply the config object with configure!
Correct!

[jfabellera]

Yes that is correct