Spark max changing modes in Labview

Technical NI LabVIEW
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I’m curious if the spark max labview api supports changing modes mid program. For instance, if we are using velocity control but need to switch in to position control, can they do that? Also, how many sets of closed loop parameters do the maxes support? I wasn’t able to find that info online.

I’m also curious if the internal encoders are sufficient for velocity control or should I expect to have to use external sensors?

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Yes, they support switching modes during operation. Just call the set vi with a different control mode parameter. The spark has 4 pid gain slots. I haven’t played too much with it but the sensor seems sufficient for velocity control.

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