sinusoidal commutation?

Hi,

Is there any support/examples for sinusoidal commutation for use with a cRIO?  I'm assuming we could right our own if we wanted?

We have a DC brushless connected to a 9502.  We are going to drive it slowly and we understand sinusoidal would work well in that situation.  We've started playing with FOC Position VI example but are having trouble find current gains for our motor (Griffin).  We're also concerned the FOC will use too much FPGA space (we need to run 5 independent motors).  I imagine sinusoidal would be much simpler.

Thanks,

Steve