Suggestions on controlling a VESC through UART

Hello,

I’m tring to control a vesc using UART and it kinda work but not as I want to. Here is the thing I control the VESC with duty cycle commands from -1.00 to 1.00 when I accelerate instead of just giving forward force for the motors, the RPM is exacly relative to the throttle so when I slow down it kinda brakes until it reaches the set RPM instead of glide to that power set.

I’ve also tried current control commands but it seems like it doesn’t have enough power under a little load and doesn’t move when I put the board down.

Currently I’m using FOC sensorless but I’ve also tried it with BLDC sensorless