[umangv620]

Since I can't really use PIDs to slow down the motor when it reaches either limit, and allow free control of the motor through joystick otherwise, I tried another method that doesnt involve PIDs or case structures.

I made a function f(x) = .2 + .8sin(pi*x/1000) , and am using this to control the motor. X is an input that has the value of the encoder's position, and f(x) is multiplied with the joystick axis value to get the motor speed. When the position is near either limit, it will have a minimum speed of .2, allowing the motor to still move, yet not overshoot too badly that will cause harm. When it is not in the middle, it has a higher motor speed, allowing the motor to move from one side to the other as fast as it can.

I have that code combined with the limit switch code (using encoders) so that the elevator can't keep going up when it hits the top limit, and vice versa for the bottom. This code should technically work, right?