Quote:
Originally Posted by cpapplefamily
Do you have any suggestions on how to software limit the acceleration?
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You could run a current loop on the talon and limit the current.
My favorite method is to limit the voltage difference from the BEMF voltage. That will limit the current, which will limit the torque. You won't be able to do that with the standard PID controller, but it isn't very hard to write a new one.