Why there is need of limiting the PID output with the allowed ramp only?
Here is the screen shot of the exact code
Hey @Saurabh_Lanje,
The ramp limits how many volts per second you allow the voltage applied to the motor to change. This is just a parameter to further tune the controller to get the desired response out of your motor.
Personally I find this parameter very useful when doing sudden changes in position control to avoid under-voltage conditions or even over-current conditions. This is because the ramp is softening the power demand by only allowing a certain amount of change per second; maybe the controller calculates a very big spike, the ramp makes sure that the power demand is smoother.
Furthermore, this parameter can help you obtain nicer acceleration curves with your motor 