[martinrand]

Thanks for your reply!

It's actually Pascal, not C++, and the issue isn't really a syntax one, it's a logic/maths/physics one.

From the research I've done, generating a position setpoint seems to be the way to go. PID can come in later to compensate for the resulting error between theoretical position and actual position (from the encoder).

Either way, I'm bent on solving this problem! I may not end up using it as part of the controller, but I'd like to at least be able to solve it before I look for other options.

Thanks.