controlling the speed that a PID on the talon moves an arm

[Kevin Sevcik]

Originally Posted by ozrien

That's a good point. The OP asked for rate-limiting, and the Talon's Ramp rate or Closed-Loop ramp rate could be used to accomplish this.

Unrelated but... capping the throttle limits can be done using the peak and nominal output settings.

As always, see Talon software reference manual and git hub examples for more info.

That's output ramping, though. Restricting the output ramp rate can lead to instabilities and overshoot. What I'd really like in the next firmware for FRC is a setpoint ramp rate. You can do it using the motion profiling, but that's moderately complicated for most teams. A setpoint ramp would get 90% of users what they want here.