Using PID with Spark Maxes and Neos

I am trying to use PID to make the acceleration of the robot a lot smoother and less jerky. How do I do that?

Thanks for any help!

Why do you believe PID is the solution to the problem? How do you want your control inputs to be processed in order to smooth out the acceleration?

If you are wanting to smooth inputs I would recommend a Slew Rate Limiter.

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