Gradual (Quadratic) Acceleration

[mbillow]

@jpearman

You could also use closed loop PID speed control, this is built into ROBOTC V3.60 and later (available as a public beta) and does allow much better low speed control, however, using the default constants I don’t like it’s response for “normal” driving and it needs more development before I would want to use it on a competition robot.

We’ve deviated from your original question so don’t get too hung up on the linearized control, the important part from earlier posts is to reduce stress on the motors by controlled acceleration and deceleration when dramatically changing the control input.

The word beta and competition shouldn’t even be allowed in the same sentence unless there is some sort of negation included. Anyway we have gotten quite off topic but this has been a great learning experience for me. Thank you to everyone who has contributed to this thread!