From the function I put before the reasonable value would be '0' but i think this will be better example what i really want: traj.mws After I derivate vx_c i wish to have ax_c. This my ramp desired trajectory of velocity. Thanks, -piotr

From the function I put before the reasonable value would be '0' but i think this will be better example what i really want: traj.mws After I derivate vx_c i wish to have ax_c. This my ramp desired trajectory of velocity. Thanks, -piotr

I did what you said but nothing happened because ax_c was just reference to the expression so i changed it using ax_c := unapply(piecewise... but result is still Float(undefined) any other ideas? Thanks, piotr

I did what you said but nothing happened because ax_c was just reference to the expression so i changed it using ax_c := unapply(piecewise... but result is still Float(undefined) any other ideas? Thanks, piotr