SparkMaxPIDController_GetI

arfur_rev::ffi::root::rev

Function SparkMaxPIDController_GetI 

Source 
pub unsafe extern "C" fn SparkMaxPIDController_GetI(
    this: *mut c_void,
    slotID: c_int,
) -> f64
Expand description

Get the Integral Gain constant of the PIDF controller on the SPARK MAX.

This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)

@param slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

@return double I Gain value