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An example system may include a motor, a position-controlled motor controller configured to drive the motor to a commanded position with a characteristic acceleration profile, and a control system. The control system may be configured to determine a target velocity for the motor. The control system

An example system may include a motor, a position-controlled motor controller configured to drive the motor to a commanded position with a characteristic acceleration profile, and a control system. The control system may be configured to determine a target velocity for the motor. The control system may be additionally configured to determine a target position that, when commanded to the motor controller, is predicted to cause the motor controller to drive the motor with the target velocity at a target time point by driving the motor with the characteristic acceleration profile. Further, the control system may be configured to provide an instruction for execution by the position-controlled motor controller, the instruction may be configured to cause the motor controller to drive the motor to the target position.

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1. A method, comprising: determining a target velocity for a motor, wherein a position-controlled motor controller is configured to drive the motor to a commanded position with a characteristic acceleration profile;determining a target position that, when commanded to the motor controller, is predic

1. A method, comprising: determining a target velocity for a motor, wherein a position-controlled motor controller is configured to drive the motor to a commanded position with a characteristic acceleration profile;determining a target position that, when commanded to the motor controller, is predicted to cause the motor controller to drive the motor with the target velocity at a target time point by driving the motor with the characteristic acceleration profile; andproviding an instruction for execution by the position-controlled motor controller, the instruction configured to cause the position-controlled motor controller to drive the motor to the target position. 2. The method of claim 1, wherein determining the target position comprises: determining an expected velocity profile that the motor is predicted to follow based on the characteristic acceleration profile of the position-controlled motor controller;determining an integral of the expected velocity profile; anddetermining the target position based on (i) the determined integral and (ii) a current position of the motor. 3. The method of claim 1, wherein the characteristic acceleration profile comprises: a first maximum acceleration in a first direction; anda second maximum acceleration in a second direction opposite to the first direction. 4. The method of claim 3, wherein determining the target position comprises: determining the target time point at which to reach the target velocity;determining a first time interval during which the motor controller is predicted to drive the motor with the first maximum acceleration in the first direction; anddetermining a second time interval during which the motor controller is predicted to drive the motor with the second maximum acceleration in the second direction, wherein (i) driving the motor with the first acceleration in the first direction during the first time interval and (ii) driving the motor with the second acceleration in the second direction during the second time interval is predicted to cause the motor to reach the target velocity at the target time point. 5. The method of claim 4, wherein determining the target position comprises: determining a first double integral of the first maximum acceleration over the first time interval;determining a second double integral of the second maximum acceleration over the second time interval; anddetermining the target position based on the sum of (i) the first double integral and (ii) the second double integral. 6. The method of claim 3, wherein determining the target position comprises: determining a starting velocity of the motor, wherein the starting velocity corresponds to a starting time point;determining a target time point at which to reach the target velocity;determining an intersection point between (i) a first line through a point corresponding to the starting velocity and the starting time point, the first line having a slope corresponding to the first maximum acceleration and (ii) a second line through a point corresponding to the target velocity and the target time point, the second line having a slope corresponding to the second maximum acceleration;determining an integral of the first line between the starting time point and a time point corresponding to the intersection point;determining an integral of the second line between the time point corresponding to the intersection point and the target time point; anddetermining the target position based on the sum of the integral of the first line and the integral of the second line. 7. The method of claim 3, wherein the characteristic acceleration profile additionally comprises (i) a first transition profile between zero acceleration and the first maximum acceleration and (ii) a second transition profile between the first maximum acceleration and the second maximum acceleration, wherein determining the target position comprises: determining a first time interval during which the motor controller is predicted to drive the motor with the first maximum acceleration in the first direction;determining a second time interval during which the motor controller is predicted to drive the motor with the second maximum acceleration in the first direction;determining a third time interval during which the motor controller is predicted to drive the motor according to the first transition profile;determining a fourth time interval during which the motor controller is predicted to drive the motor according to the second transition profile;determining a first double integral of the first maximum acceleration over the first time interval;determining a second double integral of the second maximum acceleration over the second time interval;determining a third double integral of the first transition profile over the third time interval;determining a fourth double integral of the second transition profile over the fourth time interval;determining the target position based on the sum of (i) the first double integral, (ii) the second double integral, (iii) the third double integral, and (iv) the fourth double integral. 8. A non-transitory computer readable storage medium having stored thereon instructions that, when executed by a computing device, cause the computing device to perform operation comprising: determining a target velocity for a motor, wherein a position-controlled motor controller is configured to drive the motor to a commanded position with a characteristic acceleration profile;determining a target position that, when commanded to the motor controller, is predicted to cause the motor controller to drive the motor with the target velocity at a target time point by driving the motor with the characteristic acceleration profile; andproviding an instruction for execution by the position-controlled motor controller, the instruction configured to cause the position-controlled motor controller to drive the motor to the target position. 9. A system comprising: a motor;a position-controlled motor controller configured to drive the motor to a commanded position with a characteristic acceleration profile; anda control system configured to: determine a target velocity for the motor;determine a target position that, when commanded to the motor controller, is predicted to cause the motor controller to drive the motor with the target velocity at a target time point by driving the motor with the characteristic acceleration profile; andprovide an instruction for execution by the position-controlled motor controller, the instruction configured to cause the position-controlled motor controller to drive the motor to the target position. 10. The system of claim 9, wherein the control system is configured to determine the target position by: determining an expected velocity profile that the motor is predicted to follow based on the characteristic acceleration profile of the position-controlled motor controller;determining an integral of the expected velocity profile; anddetermining the target position based on (i) the determined integral and (ii) a current position of the motor. 11. The system of claim 9, wherein the characteristic acceleration profile comprises: a first maximum acceleration in a first direction; anda second maximum acceleration in a second direction opposite to the first direction. 12. The system of claim 11, wherein the control system is configured to determine the target position by: determining the target time point at which to reach the target velocity;determining a first time interval during which the motor controller is predicted to drive the motor with the first maximum acceleration in the first direction; anddetermining a second time interval during which the motor controller is predicted to drive the motor with the second maximum acceleration in the second direction, wherein (i) driving the motor with the first acceleration in the first direction during the first time interval and (ii) driving the motor with the second acceleration in the second direction during the second time interval is predicted to cause the motor to reach the target velocity at the target time point. 13. The system of claim 12, wherein the control system is configured to determine the target position by: determining a first double integral of the first maximum acceleration over the first time interval;determining a second double integral of the second maximum acceleration over the second time interval; anddetermining the target position based on the sum of (i) the first double integral and (ii) the second double integral. 14. The system of claim 11, wherein the control system is configured to determine the target position by: determining a starting velocity of the motor, wherein the starting velocity corresponds to a starting time point;determining the target time point at which to reach the target velocity;determining an intersection point between (i) a first line through a point corresponding to the starting velocity and the starting time point, the first line having a slope corresponding to the first maximum acceleration and (ii) a second line through a point corresponding to the target velocity and the target time point, the second line having a slope corresponding to the second maximum acceleration;determining an integral of the first line between (i) the starting time point and (ii) a time point corresponding to the intersection point;determining an integral of the second line between (i) the time point corresponding to the intersection point and (ii) the target time point; anddetermining the target position based on the sum of (i) the determined integral of the first line and (ii) the determined integral of the second line. 15. The system of claim 9, wherein the control system is configured to determine the target velocity for the motor by: receiving a velocity profile;discretizing the velocity profile into a plurality of discrete velocity points corresponding to a plurality of time points, wherein the plurality of time points are based on a frequency with which the control system is configured to communicate with the position-controlled motor controller; andselecting as the target velocity a first velocity point of the plurality of discrete velocity points, wherein the first velocity point corresponds to a smallest time point of the plurality of time points. 16. The system of claim 15, wherein the control system is configured to determine the target velocity for the motor by: periodically updating (i) the target velocity with consecutive velocity points of the plurality of discrete velocity points and (ii) the target time point with consecutive time points of the plurality of time points, wherein the consecutive velocity points correspond to the consecutive time points following the smallest time point corresponding to the first velocity point. 17. The system of claim 9, wherein the motor is a first motor configured to rotate a wheel of a vehicle about a drive axis of the wheel, wherein the position-controlled motor controller is a first position-controlled motor controller configured to drive the first motor to the commanded position with a first characteristic acceleration profile, and wherein the target velocity is a first target velocity, the system further comprising: a second motor configured to rotate the wheel of the vehicle about a steering axis of the wheel of the vehicle to control a direction of travel of the vehicle; anda second position-controlled motor controller configured to drive the second motor to a commanded position with a second characteristic acceleration profile, wherein the control system is further configured to coordinate velocities of the first motor and the second motor to cause the vehicle to follow a path through an environment by: determining a second target velocity for the second motor in coordination with the determined first target velocity for the first motor;determining a second target position that, when commanded to the second motor controller, is predicted to cause the second motor controller to drive the second motor with the second target velocity at the target time point by driving the second motor with the second characteristic acceleration profile; andproviding an additional instruction for execution by the second position-controlled motor controller, the additional instruction configured to cause the second position-controlled motor controller to drive the second motor to the second target position. 18. The system of claim 9, wherein: the position-controlled motor controller comprises a feedback loop operating at a first frequency; andthe control system is configured to provide instructions to the position-controlled motor controller at a second frequency lower than the first frequency. 19. The system of claim 9, wherein the characteristic acceleration profile of the position-controlled motor controller is modifiable, wherein the characteristic acceleration profile is a first characteristic acceleration profile, and wherein the control system is further configured to: determine that an acceleration between a current motor velocity and the target motor velocity exceeds a maximum acceleration of the first characteristic acceleration profile;determine a second characteristic acceleration profile having a maximum acceleration greater than the maximum acceleration of the first characteristic acceleration profile; andprovide instructions to the position-controlled motor controller to configure the position-controlled motor controller to drive the motor to the commanded position with the second characteristic acceleration profile. 20. The system of claim 9, wherein the position-controlled motor controller is configured to drive the motor with a maximum velocity, wherein the target velocity for the motor is greater than the maximum velocity, and wherein the control system is further configured to determine the target position that causes the motor controller to drive the motor with the target velocity by: determining the target time point at which to reach the target velocity;determining a first time interval during which the motor controller is predicted to drive the motor with the first maximum acceleration in the first direction;determining a second time interval during which the motor controller is predicted to drive the motor with the maximum velocity in the first direction;determining a third time interval during which the motor controller is predicted to drive the motor with the second maximum acceleration in the second direction;determining a first double integral of the first maximum acceleration over the first time interval;determining an integral of the maximum velocity over the second time interval;determining a second double integral of the second maximum acceleration over the third time interval; anddetermining the target position based on the sum of (i) the determined first double integral, (ii) the determined integral of the maximum velocity, and (iii) the determined second double integral.