Issues with Motion Profile Generator

[Ryan-Greenblatt]

One of our programming teams post-season goals (yes post-season ) is to start using motion profiling. I wrote a motion profile generator in labview which utilizes the "Copioli" method (Motion Profile Generater-Demo.vi). I directly copied the math from the excel spread sheet released by CTR electronics (Motion Profile Generator.xlsx) and it appeared to work fine. However, in some specific situations the profile generator either fails to get to the location as fast as it could (acceleration maxes out at a value below the specified max acceleration) or it doesn't get to the location at all. I thought this was a problem with how I copied the math but I put the same inputs in the spread sheet and got the same incorrect results. I also checked my math using a different spread sheet which uses the same method (Motion Profile - Copioli Method-2.xlsx) and I got the same results. Images of the profile failing to get to the target are attached. Please note I changed the inputs so instead of inputting T1, T2 you can input max acceleration and max jerk into the vi.