Acceleration control

I’ve been doing a lot of math recently to try and set the torque of my Odrive in order to achieve a very precise acceleration under different loading conditions, and I just had the epiphany that I might just be able to dump all that on the Odrive itself so I wanted to run that by you smart people first.

basically I want to use a set acceleration command, but because that doesn’t exist yet I was thinking of hacking that one of two ways:

  1. set the max acceleration very high and use a program to continuously feed in velocity commands (potentially jerky?)
  2. use trapezoidal acceleration, set the desired position extremely high or low depending on the intended direction of spin, and continuously modify the acceleration limits.

Or is there an even better way I just don’t know about?