Current Control Mode

Current Control uses a PID controller to run the motor at a consistent current, providing a consistent torque. The PID controller is run using the setpoint, in Amps, and the internally measured current draw.

It is called as shown below:

Java

m_controller.setSetpoint(setPoint, ControlType.kCurrent);

API Docs: setSetpoint

C++

Current Control mode will turn your mechanism continuously and will speed up to maximum velocity if unloaded. Use caution when running this mode and avoid using it on mechanisms with a limited range of motion.