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Set the position of the actuator based on a mapped limit switch. This task will run the actuator to the position mapped by the limit switch, and has a condition to stop the actuator if the limit switch is pressed.
NOTE: This task hooks into the defined User Setpoint Control parameters to step the setpoint according to the unary function defined in withUserSetpointControl. As a result, USC must be enabled for a profiled task to be created, or a fatal exception will be thrown. This method will then limit the setpoint velocity to your unary function's output per loop.
Return
a task to set the position
Parameters
the position to set based on the limit switch, MUST be mapped by the actuator
Commands the actuator to go to a particular encoder tick reading by advancing or retreating the motor.
NOTE: This task hooks into the defined User Setpoint Control parameters to step the setpoint according to the unary function defined in withUserSetpointControl. As a result, USC must be enabled for a profiled task to be created, or a fatal exception will be thrown. This method will then limit the setpoint velocity to your unary function's output per loop.
Return
a task to set the position
Parameters
the position to set