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Graham Stabler wrote: »
...I do have the propeller driving a stepper motor using a counter module in NCO mode, the frequency is updated at regular intervals by the algorithm to implement acceleration, constant speed and decelleration or if the move is short just acceleration and decelleration. All with perfectly lineat frequency increase/decrease. Distance travelled in steps is the frequency applied in each update time period multiplied by that period and the algorithm tweaks appropriately to ensure the wanted distance is acheived.
... is based on that of the g-rex motion controller by geckodrive.com.