Switching between controllers on Spark Max

The documentation for setting gains on the Spark Max have an optional parameter to set pidx. I couldn’t find any documentation regarding how to use the other controllers. Am I correct in assuming a call to setReference with pidx as a parameter is enough?

Also, is there any documentation regarding how fast the spark controllers run their PID loops at? I couldn’t find any.


Yes, calling setReference with pidX parameter will switch the gain slot in use.

The Spark MAXs run their PID loops at 1khz.


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