The PVT algorithm is very good for smooth and close path control. The points can be spaced very close or very far apart. For complex paths (or path portions) the points should be spaced close together. For simple paths (or path portions) the points can be spaced far apart. PVT can handle virtually any list of points. The most difficult part is determining the appropriate velocities at
Trapezoidal move example:
pos = 050; v = 100; t = 1;
pos = 400; v = 100; t = 3.5;
pos = 450; v = 000; t = 1;
Note: Both the Position and Velocity arrays are direction sensitive meaning you must put a (-) sign on negative numbers.