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);