DriveTrain Ramp Up

[ming08108]

The hardware team said that the drive motors should ramp up instead of going whatever speed the driver pushes because it draws too much current.

I have read a bit about PID loops (don't fully understand them) and something about jaguars having hardware PID if you use CAN.

I was wondering what the best way to implement this ramp up is and how fast a good ramp up rate is.

Our robot is using Jaguars for the drivetrain and Java command based programming.

Code is here:
https://bitbucket.org/ming08108/eastbots-java-code

Any help is appreciated.