[Ether]

Originally Posted by Ether

You may want to limit acceleration.

The suggestions previously given in the post quoted above can be used to limit acceleration/deceleration without using sensors (no wheel encoders required).

If you have wheel encoders and you want to create smooth accel/decel-controlled pre-planned motion in auto, you might try something like this:

http://www.chiefdelphi.com/media/papers/download/4312