A generalised solution for generating stepper motor speed profiles in real time

We present a new low-complexity algorithm for controlling a stepper motor to rotate with constant acceleration or deceleration. It can be operated on a basic low-end microcontroller and does not require any data tables. Also, it does not have the limitation of the motor having to start from standstill. The algorithm was tested using a small robot programmed to move and change acceleration ‘on the run’. The theoretical foundations for further improving the timing accuracy of the algorithm were also derived.