Motion profile generator.

[richard]

beginning to think this may never fly in pbp
I can get various versions to work in C using integer math , but with a real servo motor with 2000 counts /rev the numbers get out of control.
although it seems to be workable using a 16f1825 @32mhz using C with floats.
however using toy servos like the polou gearmotors at modest speeds and a nice faulhaber (probably not a toy ) I found on ebay its probably doable in pbp certainly works with C integer math even limited to 16 bit vars
the pid refresh rate is critical nothing less than 10ms will work for real servos, up to 100ms can work for the others
I have attached a xlsm spread sheet to show lookup table ideas