Velocity PID control and setpoint ramping

[Pault]

Originally Posted by Oblarg

Is there any convenient way to do this using the standard WPILib PIDSubsystem object?

Inside of the execute method of the command running your drivetrain:

if(commandedSetpoint < some value that is close to 0) {
   yourSubsystem.getPIDController().setPID(small kP, kI, kD);
} else {
   yourSubsystem.getPIDController().setPID(normal kP, kI, kD);
}