Help with S-Curve Generator

[Ether]

Originally Posted by Necroterra

I was wondering whether I should be spit out an array of position values and then send that to a Talon SRX Positional PID controller, or an array of velocities and send that to a Talon SRX Velocity PID controller. I feel the positional control would likely be more accurate, but possibly less smooth.

You could do both:

Put the Talon in closed-loop speed control mode.

Generate x(t), v(t) , and a(t), and use those with a cascaded controller.

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