Help with S-Curve Generator

[Necroterra]

I am currently trying to write an algorithm that will output an array of values representing a 3rd order (finite jerk) motion path. I was wondering whether I should be spit out an array of position values and then send that to a Talon SRX Positional PID controller, or an array of velocities and send that to a Talon SRX Velocity PID controller. I feel the positional control would likely be more accurate, but possibly less smooth.