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:
API Docs:
API Reference:
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.
m_controller.setSetpoint(setPoint, ControlType.kCurrent);using namespace rev::spark;
m_controller.SetSetpoint(setPoint, SparkBase::ControlType::kCurrent);