Josh PieperI recently added an optional "anti-windup" term to the position control loop in moteus. This lets it operate in a pure velocity mode with behavior that is more familiar to a 3 stage control law, as opposed to the integrated position/velocity controller that moteus uses.
You can configure it by setting the "servo.max_position_slip" option to the number of revolutions the control position is allowed to deviate from the actual position.
I've got a video showing how to use it here:
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