Original VESC(https://vesc-project.com/) are optimized for electric skateboards or scooters, making them suitable for high current and powerful motor driving. 

The MJ-VESC(https://drcl.mju.ac.kr/research/on-go...) I developed has been modified to increase the accuracy of low current control and position control in the existing firmware and hardware of VESC.

I added a profile generator and "Goto control mode" to the original PID position control of VESC. An experiment was performed using the 8:1 Planetary Gear Actuator module(https://hackaday.io/project/167656-81...) to turn 10 times after then return to 0 position. The results show that it is possible to control the motor position very quickly and accurately.

The rotational speed can be adjusted by setting the acceleration and speed limit values. In this experiment, the highest value was set to show the quickest possible rotation. The limit value for rotational speed was 25000 deg/sec and the limit value for acceleration was 100000 deg/sec^2.

As I know, this kind of control mode already exists at Odrive(https://odriverobotics.com/). I hope to compare the performance between MJ-VESC and Odrive in the next time.