Calculate acceleration and deceleration of stepper motor
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Explanation:
Delay (sec) programmed by timer count c :
 Equation 1
f = timer frequency (Hz).
Motor speed ω (rad/sec) at fixed timer count c :
 Equation 2
α = motor step angle (radian).
1rad = 180/π = 57.3deg. 1rad/sec = 30/π = 9.55rpm.
Acceleration ω ' (rad/sec2 ) from adjacent timer counts c 1 and c 2:
 Equation 3
Equation 3 assumes fixed-count speed (Equation 2) at the midpoint of each step interval (Equation 1), as on a linear ramp, Figure 1. Note that ω ' resolution is inversely proportional to the cube of the speed.
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