SparkMaxPIDController_SetIMaxAccum

arfur_rev::ffi::root::rev

Function SparkMaxPIDController_SetIMaxAccum 

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

Configure the maximum I accumulator of the PID controller. This value is used to constrain the I accumulator to help manage integral wind-up

@param iMaxAccum The max value to contrain the I accumulator to

@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 REVLibError::kOk if successful