When using a TrapezoidProfileSubsystem is there a way to change the Constraints on the fly?
For example when using TrapezoidProfileSubsystem for an Arm, say I want to have one max velocity for when it goes up and another for when it goes down?
-R
Not quite the answer to your question, but you could have two profiles set up, one for moving up, and one for moving down. When you’re moving down, just calculate based on the down profile
Thanks Tim. Thought of doing that, but was hoping there was a way so I wouldn’t have to re-write. 
Might be the solution though.
Now I’m curious, why do you want different constraints in one direction vs the other?
This is usually done for arms. Especially arms that are not simple (the mass is not uniform)
It has a pretty long arm and could probably use some additional support.
Right now if they start driving it to soon while it is up a bit it wants to cantilever. I have it tuned really well for going up and down to setpoints. I have found if I have the Velocity constraint slower it behaves a little better when going down, but don’t want to sacrifice the lifting up speed.
Its kind of a work around.
In addition, I am not sure if it is the right solution to the problem. Just one solution that seems to have helped…
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