SPARKMAX SetSmartMotionMaxAccel question

Technical Programming
1

Hi,

Using SparkMax smart velocity mode. PID gains are properly tuned. Unit conversions to feet per second on encoders is correct. We are trying to slow down accelaration/decelaration and it appears that SetMartMotionMaxAccel only influences increases in velocity, not decelerations.
We are using joystick control to command pos/neg velocity
We set max accel to 0.5 and the robot very slowing access like we expect. When we release joystick to command ~0 velocity, the robot instantly stops (it doesn’t appear to be using MaxAccel. We were expecting a nice trapezoidal velocity profile from smart velocity. Anyone else have any experience with this?

2

We are also having a similar problem and we can’t figure out why it’s happening.

3

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