with
Calling this method will enable the user input mode and profiled task variants to instead adjust the setpoint dynamically at a user-defined velocity, rather than unlocking the setpoint then relocking it when the mode transitions to holding, or instantaneously setting a new setpoint for tasks.
This mode is useful to call on high-frequency system controllers, like those accomplished via Motor, and switches over the manual control from raw input to system controls. It may also be desired to use this mode if you do not wish to use a ProfiledPIDController for tasks.
User setpoint control is also used in certain tasks suffixed with profiled, emulating user input to adjust the setpoint in a linear fashion rather than instantly. Be advised that user setpoint control does not apply elsewhere other than these tasks and the user input mode.
Enabling user setpoint control by this method is highly recommended and will not only improve system accuracy but will also enable profiled task variants. The only drawback to this mode is that user input modes may experience some input lag as the setpoint needs to move to overcome friction, rather than directly sending power.
Return
this
Parameters
the multiplicative scale to translate power into target position delta, which returns the desired delta step in encoder ticks, while supplying you with a delta time (dt) in seconds. Delta time is calculated as the time between the last two evaluations of the function. It can be used to define a rate of change in the setpoint with respect to time rather than loop times. E.g. 100 ticks per second ((dt) -> 100 * dt). This form is effectively your max actuator TPS. profiled task variants will use the full max actuator TPS when moving, unless otherwise scaled via withAutoPower.