SparkMaxPIDController_GetSmartMotionAllowedClosedLoopError

arfur_rev::ffi::root::rev

Function SparkMaxPIDController_GetSmartMotionAllowedClosedLoopError 

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

Get the allowed closed loop error of SmartMotion mode. This value is how much deviation from your setpoint is tolerated and is useful in preventing oscillation around your setpoint.

@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 The allowed deviation for your setpoint vs actual position in rotations