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Originally Posted by KenWittlief
In this case the position loop would invoke the speed loop. When its told to move forward it would set the speed in the forward direction. The 6 ft/S would be the upper limit of velocity.
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That's almost exactly how the Katapult (TechnoKats 2006) autonomous drive PID was designed to work. There is a "speed limit" imposed on the output from the position control routine.