Seems not many people are using SpeedControl mode.
I'm working on a direct drive gearmotor configuration using FOC + SpeedControl over UAVCAN for a ground vehicle.
I've got FOC tuning and speed PIDs dialed in but the control code/vesc-tool doesn't seem to have a way to slew the change rate?
As is, the drive will instantly attempt to achieve the current speed command which causes serious shock to the system. Add backlash from a gearmotor and it compounds the issue.
Is there a slew rate control I'm missing?