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I see...basically no different than a CNC profile step shape going into the motor driver. I will work on the ramp up/down function and see if I can improve things a bit.

I need to control 2 servo...

Hello Henrik,

I just thought you should know that the code works perfectly in my servo application with the mods. I need to tweak constants / gains. Making small incremental changes in position...

Good point. I will make the suggested change. In your main code you have HPWM 1, pid_out, 10000 .... I know that pid_out is declared a word (2 bytes) and frequency is 10Khz? The HPWM in the manual...

Hello Henrik, All,

I have read through this thread regarding servo PID motor control that Henrik wrote. I need to modify the code for the direction part of the code. My h-bridge has 3 i/o. PWM...