Our team would like to use the benefits of PID based movement but with limitations on the maximum speed for the maneuvering of the defenses. We have tried the Talons functions of: configMaxOutputVoltage, and configPeakOutputVoltage but neither seemed to have an effect on our output. We saw a post on here that suggested integrating the PID function however wouldn’t that just be velocity control rather than position, which is what we need. Any help is appreciated, perhaps as to why the Talon functions aren’t working.