# Acceleration control

**URL:** <https://discourse.odriverobotics.com/t/acceleration-control/6965>\
**Category:** Projects\
**Created:** [April 29, 2021, 10:04pm UTC](https://discourse.odriverobotics.com/t/acceleration-control/6965 "2021-04-29T22:04:36Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anythingthatworks](https://discourse.odriverobotics.com/user_avatar/discourse.odriverobotics.com/anythingthatworks/32/3217_2.png) [@anythingthatworks](https://discourse.odriverobotics.com/u/anythingthatworks)\
**Post date:** [April 29, 2021, 10:04pm UTC](https://discourse.odriverobotics.com/t/acceleration-control/6965/1 "2021-04-29T22:04:36Z")

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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](https://discourse.odriverobotics.com/t/trapezoidal-trajectory-planner/1104/11), 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?