Does anyone have a good explanation of the method setReference within the CANPIDController class of the Spark MAX libraries? Is it similar to the TalonSRX method of set() with the control mode of Motion Magic?
It’s more like traditional closed loop on the talon srx with the four parameter set - you set your gains in advance and then with set reference provide your set point, closed loop type, gain set, and any arbitrary feed forward.
I think you could make something pretty similar to motion magic with the advertised cascading closed loop mode but we haven’t tried that yet.