Position and velocity PIDControllers using same encoder

[Oblarg]

Originally Posted by calcmogul

Otherwise, you could pass them to the inner velocity PID controller, and the velocity PID controller would, in effect, be accounting for uncertainties in your model that generates the velocity feedforward.

This is the idea. As I said, it's probably completely unnecessary - but I didn't see any reason why it couldn't be done, and thought it might be worth playing with.