Implement S-curve in position control

Good morning, did anybody implemented a S-Curve for position control instead of trajectory to remove “jerk” ? Would it be possible to implement it with streaming commands to the odrive over uart or spi? Would one use velocity mode and change the velocity in a S-curve formula while monitoring the position? Any help would be appreciated.

Yup. That’s why we have input_pos, input_vel and input_torque separately.