Translating code from WPILIB PIDController to REVLIB SparkMaxPIDController

I’m currently trying re-write some of the current code for our robot to use SparkMaxPIDController rather then WPILIB’s PIDController class as an exercise and I’m having trouble translating some of the methods. I’m not to knowledgeable about PID other then the basics of what it does. Some of the methods I’m having trouble with are

PIDController.enableContinuousInput(double, double) I’m pretty sure using SparkMaxPIDController.setOutputRange() is the solution for setting the min/max input values but how do I make it continuous?

PIDController.calculate(double, double) Is getOutputMin() what I’m looking for here?


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