[apache8080]

How does 254 generate the trapezoidal curve for the velocity? My assumption is you just set motor speed to max(1.0) and then calculate what the velocity is at specific time intervals until it reaches a cruise velocity. Then I guess you derive the acceleration from that velocity graph. This makes sense but where I get confused is the deceleration because if you just set the drive speed in the code to 0 then since the motor controllers are in brake mode the motors will just stop.

I am a newbie when it comes to motion profiling so these questions may seem a little dumb.
Thanks for all the help.