I'm new in this area and trying to understand how this works. My aim is to be able to independently (while keeping synchronization) I can instruct each motor to run with the following conditions:

1. For each motor, the command to run it will receive the following parameters:

   a - Starting velocity,

   b - Acceleration,

   c - Acceleration duration,

   d - Steady velocity,

   e - Steady velocity duration,

   f - Deceleration,

   g - Deceleration duration,

   h - Final velocity.

2. It will be possible to activate the gyro sensor to maintain straight movements when applicable.

Note: In the above, for the duration I can provide time, distance, wheels/motors' turns; whichever is available will work for me.

The aim of this capability is to minimize possible deviations by smoothing the start and finish of any movement (straight or curved). In fact, smoothing motors' activities (regardless of their role) would be a blessing.

After examining all the possible combinations offered by the libraries as well as quite a number of posts, I am still lost (there are some posts that partially address some aspects of my needs but they are old and the examples presented therein do not work).

Any suggestion (and examples if possible) would be highly appreciated.