setRunUsingEncoderController

Set a system controller to use for RUN_USING_ENCODER.

The coefficients of this controller can be gain scheduled through scheduleRunUsingEncoderGains. Otherwise, you can adjust the coefficients directly on the controller instance and they will be respected, unless a gain scheduler is set for this controller.

Note that when using a motor with this class, the PIDF coefficients attached to the motor itself will be used only if a controller is not specified, and will only take a snapshot at runtime of these values to populate a controller, making a fallback default VelocityFF controller to use. The SDK PIDF values are otherwise ignored. Falling back on a default controller will also push a robot global warning as it is highly dangerous to use the stock PIDF values in this context. Set your own controller using this method.

Parameters

Set a system controller to use for RUN_USING_ENCODER.

The coefficients of this controller can be gain scheduled through scheduleRunUsingEncoderGains. Otherwise, you can adjust the coefficients directly on the controller instance and they will be respected, unless a gain scheduler is set for this controller.

Note that when using a motor with this class, the PIDF coefficients attached to the motor itself will be used only if a controller is not specified, and will only take a snapshot at runtime of these values to populate a controller, making a fallback default VelocityFF controller to use. The SDK PIDF values are otherwise ignored. Falling back on a default controller will also push a robot global warning as it is highly dangerous to use the stock PIDF values in this context. Set your own controller using this method.

Parameters

Set a system controller to use for RUN_USING_ENCODER.

The coefficients of this controller can be gain scheduled through scheduleRunUsingEncoderGains. Otherwise, you can adjust the coefficients directly on the controller instance and they will be respected, unless a gain scheduler is set for this controller.

Note that when using a motor with this class, the PIDF coefficients attached to the motor itself will be used only if a controller is not specified, and will only take a snapshot at runtime of these values to populate a controller, making a fallback default VelocityFF controller to use. The SDK PIDF values are otherwise ignored. Falling back on a default controller will also push a robot global warning as it is highly dangerous to use the stock PIDF values in this context. Set your own controller using this method.

Parameters