# How to disable linear closed loop control?

Measurement, Mechanism, and Rotor units

## What is linear closed loop control? Linear closed loop control is when the closed loop controller operate in `meters` and `meters per second` instead of `rotations` and `rotations per second`. This directly affects your PID gains. ## When would I want to disable it? Sometimes you would like to get `Measurement` (like `SmartMotorController.getMeasurementPosition` and `SmartMotorController.getMeasurementVelocity`) data without enabling linear closed loop control. * Measuring shooter speed in `meters per second` for easier shoot on the move calculation * Supplying linear velocity or data which is translated to angle's or angular velocities inside of the `SmartMotorController`. ## How do I disable it? Inside of your `SmartMotorControllerConfig` you would use `withLinearClosedLoopController(false)` 
SmartMotorControllerConfig motorConfig        = new SmartMotorControllerConfig(this)
      .withControlMode(ControlMode.CLOSED_LOOP)
      .withWheelDiameter(Inches.of(4))
      .withIdleMode(MotorMode.COAST)
      .withClosedLoopController(50,0,0,MetersPerSecond.of(3), MetersPerSecondPerSecond.of(5))
      .withLinearClosedLoopController(false);