> For the complete documentation index, see [llms.txt](https://yams.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yams.yassrobotics.com/documentation/explanation/how-to-disable-linear-closed-loop-control.md). # How to disable linear closed loop control? YAMS defaults to closed-loop position or velocity control expressed in linear units (meters and meters per second) for mechanisms that have a wheel diameter or drum radius configured. There are specific situations, open-loop testing, duty-cycle-based control for simple mechanisms, or debugging actuator response, where you want to read linear measurement data without having the closed-loop controller operate in those linear units. Disabling linear closed-loop lets you get `Measurement` values in meters while still supplying angular setpoints, without restructuring your subsystem.

## What is linear closed loop control? Linear closed loop control is when the closed loop controller operate in `meters` and `meters per second` instead of `rotations` and `rotations per second`. This directly affects your PID gains. ## When would I want to disable it? Sometimes you would like to get `Measurement` (like `SmartMotorController.getMeasurementPosition` and `SmartMotorController.getMeasurementVelocity`) data without enabling linear closed loop control. * Measuring shooter speed in `meters per second` for easier shoot on the move calculation * Supplying linear velocity or data which is translated to angle's or angular velocities inside of the `SmartMotorController`. ## How do I disable it? Inside of your `SmartMotorControllerConfig` you would use `withLinearClosedLoopController(false)`

SmartMotorControllerConfig motorConfig        = new SmartMotorControllerConfig(this)
      .withControlMode(ControlMode.CLOSED_LOOP)
      .withWheelDiameter(Inches.of(4))
      .withIdleMode(MotorMode.COAST)
      .withClosedLoopController(50,0,0,MetersPerSecond.of(3), MetersPerSecondPerSecond.of(5))
      .withLinearClosedLoopController(false);