V5 Motor ramping (acce/decell)

I know this has been well vetted in Cortex but not finding much w/V5 / VEXCode

We are looking for a way to accelerate/decelerate our drive motors for autonomous We have to go slow for decent repeat-ability and suspect this would help a lot.

We are hoping to use spinFor or spintTo for accuracy but not sure how to best accomplish this.

On another thread the thought of hanging motor torque was intriguing but it seems so long as the motor’s using the encoder there’s not a way ‘step out’ of this command … (it this makes sense)

Thanks