[mikets]

So does it mean I can only call SetPID after I call ChangeControlMode to a close-loop mode? And I assume I have to call SetPID every time after I change to a close-loop mode. In other words, the PID constants will be cleared on every mode change?
Hmm, thinking about it some more, it makes sense. Since the PID constants are different for different close-loop mode, it makes sense to set them after a close-loop mode is set.
Thanks for the info. Learn something today :-)