Smart Velocity Control

The Smart Velocity control mode utilizes the Smart Motion parameters to improve upon velocity control. Honoring the maximum acceleration, Smart Velocity will speed up and slow down your flywheel or rotary mechanism in a controlled way, reducing power draw and increasing consistency.

It is called as seen below:

Java

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

API Docs: setReference

C++

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

API Reference: SetReference

Smart Velocity Control mode will turn your motor continuously. Be sure your mechanism does not have any hard limits for rotation.

This graph was generated with a very slow acceleration to better show the motion, the wobbles at low speed can be minimize by increasing your acceleration.