Turns a velocity pivot into a fully configurable robotic one.
By default, it'll behave just like a robotic pivot, except much faster while remaining smooth.
Here's all the configuration options and what they do:
- Pivot Gear Ratio - Set this to your pivot's gear ratio
- Rotation Limit - Enables rotation limiting
- Max & Min Degrees - Can be independently adjusted
- Relative Mode - If on, it'll map a 0 to 1 or -1 to 1 input onto the min/max range set before. If off, it'll take an absolute input in full turns, clamped to the limits.
- Relative Input - Sets the relative input range, as mentioned before.
- Positive/Negative Rotation Time - Individually set the time it takes for it to move from current to target position
- Speed Limit - Set a speed limit in RPS. It is ignored if at 0
- PID Multiplier - Multiplies the PID output. (I only recommend lowering this, if the default of 1x has instability)
