Speed Control (help Idea)

Hello I need to write code for a speed control but the speed control need to Accelerating and Decelerating at the same speed like stair one step at the time up end one step down at the time.

example: code (this work from 0 to 100% of Rc Radio)

gosub RcInput 'Read Rc Input

if (Throttle > ThrottleMin) and (Throttle < ThrottleMax) then
MotorSpeed = ((Throttle - ThrottleMin) * 100 / 83)
endif

if (CurrentStep < MotorSpeed) and (MotorSpeed < 101) Then
IF (CurrentStep * 2 < MotorSpeed) Then
CurrentStep = CurrentStep + 1
EndIF

IF (CurrentStep * 2 > MotorSpeed) Then
CurrentStep = CurrentStep - 1
EndIF
endif

if (CurrentStep > MotorSpeed) and (MotorSpeed >0) then
while (CurrentStep * 2 < MotorSpeed)
CurrentStep = CurrentStep + 1
wend

while (CurrentStep * 2 > MotorSpeed)
if (RPM => RunIdel) then CurrentStep = CurrentStep - 1
wend
endif


If (CurrentStepl < CurrentStep) And (CurrentStep < 101) Then
GoSub GetRPM
IF (RPM < MaxRPM) Then
while (CurrentStepl < CurrentStep)
CurrentStepl = CurrentStepl + 1
MotorDC = (50 / 100 * CurrentStepl + StartPoint)
Pause 100
wend
endif
EndIf

if (RPM >= RunIdel) Then
while (CurrentStepl > CurrentStep)
CurrentStepl = CurrentStepl - 1
MotorDC = (50 / 100 * CurrentStepl + StartPoint)
Pause 100
wend
endif