public class ClosedLoopGeneralConfigs extends Object implements ParentConfiguration
Configs that affect general behavior during closed-looping.
Includes Continuous Wrap features.
public boolean ContinuousWrapWrap position error within [-0.5,+0.5) mechanism rotations. Typically used for continuous position closed-loops like swerve azimuth.
This uses the mechanism rotation value. If there is a gear ratio between the sensor and the mechanism, make sure to apply a SensorToMechanismRatio so the closed loop operates on the full rotation.
- Default Value: False