v4.1.0

BasicMotor v4.1.0 Release Notes

New Features

• Added support for multiple PID slots.
• Added ramp rates to control how quickly the motor output changes.

Breaking Changes

• pidGains, feedForwardGains, and motionProfileGains have been moved into slotGainsX (0–2).
• Code written for the 3.x.x series will need to be updated to use the new slot-based format.

Migration Example

Old (3.x.x):

config.pidConfig.kp = 1;
config.pidConfig.kd = 0.1;
config.feedForwardConfig.simpleFeedForward = 1;

New (4.1.0):

config.slot0.pidConfig.kp = 1;
config.slot0.pidConfig.kd = 0.1;
config.slot0.feedForwardConfig.simpleFeedForward = 1;