samneff72
commented
1 year ago Root closed loop control diagram https://docs.revrobotics.com/sparkmax/operating-modes/closed-loop-control
Here's the Rev smart motion example https://github.com/REVrobotics/SPARK-MAX-Examples/blob/master/Java/Smart%20Motion%20Example/src/main/java/frc/robot/Robot.java
Due to Sparkmax/NEO on drive, we need to implement this via WPI classes or SparkMax classes instead of leveraging what we're learning on the Falcon embedded controls in the superstructure.
From a first pass, Sam recommends we use Rev SmartMotion here, I think we'll get much better results running SmartMotion at 1khz than a WPI 20ms loop (aka 50hz, almost two orders of magnitude slower)