Velocity Control Mode

January 4, 2025 Update -

Documentation for REVLib 2025 can now be found at: https://docs.revrobotics.com/revlib

Please bookmark our new page as we transition over and add more information there!

Velocity Control uses the PID controller to run the motor at a set speed in RPM. An FF gain, as detailed in F Parameter, is your friend in finding consistency when tuning this mode.

It is called in the same way as Position Control:

Java

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

API Docs: setReference

C++

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

API Reference: SetReference

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

Velocity Loop constants are often of a very low magnitude, so if your mechanism isn't behaving as expected, try decreasing your gains.