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Or perhaps this was made as a guide for other teams looking to utilize motion profiling? I found it was very helpful to add acceleration feedforward in addition to velocity feedforward.

It really increased the accuracy of the robot's position during the movement - it went from lagging by 2 inches or more to lagging by 0.5 inches at most.

This paper is the result of FRC team 900's work with motion profiling using the Talon SRX.

It includes a set of example VIs which can be used independently for testing and data generation in addition to use within larger projects.

Questions about the paper can be posted here and someone who worked on this project will reply.