Velocity Control Mode

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.

Want to control the acceleration of your velocity controller? See MAXMotion Velocity Control for an improved version of Velocity Control with more features and control.

It is called in the same way as Position Control:

Java

m_controller.setReference(setPoint, ControlType.kVelocity);

API Docs: setReference

C++

using namespace rev::spark;

m_controller.SetReference(setPoint, SparkBase::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.