[Donut]

#2 is what our team has used for the past two years; from experience I say it works fairly well. We designed the function so that we currently run all our motors through this algorithm; just with different delta limits depending on how fast it needs to run and what it is operating. The only problem we've run into with it is that it is rather annoying to have the drive motors stop more than a second after you center the joystick; we fixed it by just increasing the allowed delta, but the function could be customized more so it allows you to slow down faster than you are allowed to speed up.

Our team has no experience with PIDs, so I'm not sure how well our ramping function would compare with the first design.