PID Position & Velocity Control?

[Captain Planet]

Our team has been able to use a PID loop along with an encoder to control the angular position of our shooting arm. However, we were wondering if it was possible to control how fast the arm reaches the target position. Could we tell it to slowly return to the ground over the course of a half of a second, then quickly snap upwards to fire the ball in just a tenth of a second? Essentially, we'd be telling the arm a target position and a target velocity. Could someone help us find a method to do this in Labview?