I’m looking for a way to tell if the CANPIDController has reached its setpoint (or reference as it’s called in the CANPIDController) and be able to set the tolerance like in the wpilib PIDController class. I also don’t see a function on the CANPIDController to get the error. Are there equivalent functions?
3468 just had to make their own
isOnTarget() method. We also had to manually keep track of the setpoint, as there also appears to be no way to get it back out of the CAN PID Controller object as well.
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