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 motors each with feedback pot. Is it as simple (yet inefficient) as two separate routines one for each servo on the same MCU? or is there a more cleavor way of doing it? Maybe using Flags to switch between the two servo's running through 1 PID routine (not 2 routines)?

Nick