Hi all PIClisters.

Can someone point me to an algorithim to do accelaration for a stepper
motor controller?

My controller uses one timer overflow ISR to switch the phases of the
motor, so the speed is calculated through the period register of this timer.

I need to calculate different values for the period register for a
constant (or close to constant) acceleration, preferably "on-the-fly",
inside the same ISR.

My first atempts resulted in that the final speed was never reached
because of accumulating errors in calculations.

Any hints?

Thank you all.
Francisco

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