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Re: Motion Profiling
Adam,
I think passing position commands work too. One interesting thing to note is that you could do a cascading PID with pos PID in the crio and velocity in the jag.
The motion profile usually needs 2 types of parameters: regular and short motion. The short motion routine is for motions where T4 is less than T1 +T2. Other than that, the profile constants adjust the profile pretty well.
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In full disclosure I am the President of VEX Robotics, a division of Innovation First International.
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