[drakesword]

Hate to res an old thread but here it goes.

First idea involves some static coding. Basically you set up the jag in speed mode. then you monitor position slowly adding for the first 1/3 of travel. then staying the same the second 1/3 then coasting down for the final leg.

Another idea would to have the Jag running a speed PID and the cRIO running the position PID. Then you have 2 PIDs to tune but you can ramp.

Another idea would be to have the pid strictly on the cRio but that sucks.

the final idea (Hey Jag programming guys this is for you!) is to have the jag position control mode to also have a target velocity and or acceleration. Many other control systems utilize it why not us. . . I will probably add the feature to the non-frc firmware in a month or so. Ill let you know how it goes.