> Motor controller derives new output state from just torque and instantaneous state of the motor
And the way it makes the motor state advance causes acceleration. It doesn't matter what variable goes into the formula, especially since you can convert freely. I'm pointing at the output and what I find scary about it. What comes first doesn't matter, I'd have the same issue even if I'm looking at the control formula from a jerk-first perspective.
And I don't really see the value of the "against nothing" analogy because the reason it's increasing torque is because it thinks there's resistance.
And the way it makes the motor state advance causes acceleration. It doesn't matter what variable goes into the formula, especially since you can convert freely. I'm pointing at the output and what I find scary about it. What comes first doesn't matter, I'd have the same issue even if I'm looking at the control formula from a jerk-first perspective.
And I don't really see the value of the "against nothing" analogy because the reason it's increasing torque is because it thinks there's resistance.