Ramping Motors?

[arithehun]

Does anyone have any experience with ramping motors in a command based system? I tried adding a for loop to a subsystem method but then I couldn't drive the robot asynchronously. So I tried adding a command to make the subsystem drive at a variable speed and then creating a command group that uses a for-loop to add a series of that command, each with an increasing parameter. This worked asynchronously, but I needed to be able to change the variables continually throughout the program, not have them be statically set like commands do (if you use them correctly, of course). I could. I know these are both terrible ways to accomplish this besides the caveats I mentioned (the second one particularly bad), but I was desperate.

In short, is there a better way to do this by making the variables both adjustable via the dashboard (instead of being initially set when the robot turns on) AND make this loop operate asynchronously?