This paper describes the basic ideas behind motion profiling and how to use the built in motion profiling features of the Talon SRX. It is written for LabVIEW and the example code is LabVIEW, but the concepts can be applied to any other language.
VIEW code update to Team 1153's Autonomous Echo to simplify the model and recording process, and to Lab run more easily on the RoboRio. We chose to forego the ability to sequence small operations, for easier recording and selection of complete autonomous routines.
The RoboBees 2013 FRC entry, Frizz Bee, is a from-the-Tower high goal shooter, differentially steered, normally aspirated 30-point climber, with a 3-disc Autonomous.
Description reviews the five major control sub-systems, a series of general purpose subVIs (freely offered for re-use by the FRC community!), and some additional capabilities.
Only Dave knows [if the 2010 game is designed already], and he aint tellin' but he'll happily feed you lots of red herrings. - Koko Ed [more] 
