Position Control Mode

Position Control is used to point the motor in a specific direction. It takes a setpoint in rotations and uses the PID loop to move to that position. The Position control mode pipes directly into a PID controller with the configured encoder.

Position Control is a great tool for simple but consistent motions, and can be paired with a WPILib TrapezoidalProfile to create smoother, more complex motions.

A properly tuned Position control loop should respond quickly and accurately to a setpoint change and should not oscillate around the target.

To run the motor in Position control mode, set the PID Controller setpoint as shown below.

Java

m_pidController.setReference(setPoint, CANSparkBase.ControlType.kPosition);

API Docs: setReference

C++

m_pidController.SetReference(SetPoint, rev::CANSparkBase::ControlType::kPosition);

API Reference: SetReference

This loop was tuned to show the curve, an ideal controller would move much quicker. In a perfect world, this motion would be nearly instantaneous.