Not an issue, just a question about speed control mode

[npalamar]

Hi! Could some one explain the VESC speed control mode "zero speed command" behaviour? Previously I've had an experience of working with ODrive ESCs, and their speed mode apply some kind of holding torque when rpm command is equal to zero. For my understanding their control loop just try to hold zero speed and try to compensate any speed that more or less than zero. With high PID values it looks something like position mode.

In VESC I can't find anything like that in speed mode. So if I understand correctly this behaviour isn't something like "classic" speed control loop, because I've also had an experience of using Chinese controllers and their speed mode looks like the ODrive's speed mode (velocity actually but it's the same :).

So I have two questions:

1. Is it possible to apply some settings to achieve this behaviour?
2. Will I achieve a similar behaviour if I add another control layer for example at the mcu that connected to VESC and code some kind of speed control over duty cycle control?
   *If I understand correctly, duty cycle will provide similar behaviour for the zero speed, but control algorithm totally different and will not compensate the "speed difference" between target and actual set_point (I understand that in duty cycle mode - set point is the duty cycle value not the speed)

The goal is pretty straightforward - I have a differential drive robot and don't want to go down the slope when speed is zero.

Thank you for advice and sorry for one more ticket :)