[Hugh Meyer]

Marshal,

One solution is to create a motion profile. This is just a series of points that defines all of the positions between the current position and the target position. When you create these points you include the ramp up and down. The more points and the shorter the time between points will create the smoothest motion.

The periodic rate that the code runs at will limit the resolution of points in the time domain. The smaller the step between points gives a smoother motion.

I agree with you that a nice ramp up and down while traveling to the next point would be nice. As best we could tell this is not in the firmware of the Jaguars. The position mode simply tries to go full blast to the next point. Using the motion profile is how we worked around it. We didn't get really smooth motion while traveling slowly because our periodic rate was 100 milliseconds. It worked well on fast moves.

-Hugh