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.

It is called in the same way as Position Control:

m_controller.setReference(setPoint, ControlType.kVelocity);

API Docs: setReference

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

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