# Position Control Mode

Position Control is used to point the motor in a specific direction. It takes a setpoint in rotations (or whatever unit your selected encoder's position conversion factor is in) and uses the PID loop to move to that position. The Position control mode pipes directly into a PID controller with the configured encoder.

{% hint style="success" %}
For more complex mechanisms or motions where closer control over acceleration and velocity are needed, see [MAXMotion Position Control](https://docs.revrobotics.com/revlib/spark/closed-loop/maxmotion-position-control)
{% endhint %}

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.

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

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

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::kPosition);
```

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

<figure><img src="https://content.gitbook.com/content/0OKYENVWAIgVP2TmkWl3/blobs/Mpr1eOcyU664zF9BVo3K/Position%20Control.png" alt=""><figcaption><p>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.</p></figcaption></figure>