[Aero]

Originally Posted by eddie12390

Ether has a lot of information about motion profiling here: http://www.chiefdelphi.com/media/papers/3107. If you haven't seen it, it would be a good starting point. I know for sure that the Cheesy Poofs used trapezoidal motion profiles for their 2011 robot so it may be a good place to find an example. (https://github.com/Team254/FRC-2011)

I read the Motion Profiling whitepaper, looked through the Poof's 2011 Github, and also read through 236's 2015 code. All the motion profiling I can find involves drivetrain stuff, which is between static values. Nothing that'll let you move between non-predefined setpoints.

Originally Posted by Bluman56

Did you attempt to lower the P (gain) value of your PID loop?

That will provide slower acceleration, but won't help the deceleration because our integral term will take over.