[Ryan-Greenblatt]

The issue is that the motion profile results in a final position of 1.7956 instead of the target final position of 4. Look at the attached images, the position line in the spreadsheet and the vi both don't end up at 4. I'm assuming that if this motion profile was used on a motor the motor would end up turning just 1.7956 units instead of 4, because the position line is effectively just calculated by integrating the velocity line and the position and velocity arrays are the only pieces of data used to control the motor, but I haven't tested it.