I don't know how much this applies, (when you say more control over acceleration this just jumped to my mind) but we created an acceleration rate limiter ("ramping" function) to ramp acceleration when the driver jams full speed on the joysticks (this helps with current spikes and wheel slip among other things). You can adjust your max desired slope which is the variable Slope_a and move the joystick slider to simulate joystick movement. There is an indicator of the motor output labeled "motor" as well. The graph will show you the joystick value (white line) in comparison with the motor output (red line). The smaller Slope_a is the longer it takes the motor to reach the full desired speed. When controlling finer movements, these curves overlap exactly.
Here is the LabVIEW VI if you want to take a look. (Sorry if it is a little messy!) If you aren't too versed in LV, I'd be happy to explain more, if you have problems with the link let me know.