[wesleyac]

Originally Posted by Ether

Let's say at some time t_i your setpoint changes to x_s, and your present position, velocity, and acceleration are x_i, v_i, and a_i.

What formulas are you using to compute the new motion profile given these non-zero initial conditions?

As I mentioned, we didn't have changing setpoints last year, so this wasn't a problem that we ran into - we basically solved it by ignoring it

When I said calculating motion profiles, I was simply referring to generating a trapezoidal acceleration profile based on a given distance, acceleration, and velocity. We found that it was unnecessary to precalculate the profiles, as they were fairly simple to calculate.