> For the complete documentation index, see [llms.txt](https://docs.revrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.revrobotics.com/revlib/spark/closed-loop/current-control-mode.md).

# 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:

{% tabs %}
{% tab title="Java" %}

```java
m_controller.setSetpoint(setPoint, ControlType.kCurrent);
```

API Docs: [setSetpoint](https://codedocs.revrobotics.com/java/com/revrobotics/spark/sparkclosedloopcontroller#setSetpoint\(double,com.revrobotics.spark.SparkBase.ControlType\))
{% endtab %}

{% tab title="C++" %}

```cpp
using namespace rev::spark;

m_controller.SetSetpoint(setPoint, SparkBase::ControlType::kCurrent);
```

API Reference: [SetSetpoint](https://codedocs.revrobotics.com/cpp/classrev_1_1spark_1_1_spark_closed_loop_controller#aefb8aa2d8ea8533a8e726f58c58facc9)
{% endtab %}
{% endtabs %}

{% hint style="danger" %}
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.
{% endhint %}