Stepper motor controller

[aratti]

The profile algorithm transforms the travel command (steps) into three vector quantities:

Vector A Acceleration from rest to fixed speed
Vector B travel at fixed speed from end of vector A to begining of vector C
Vector C Deceleration from fixed speed to rest at target point

This technique is known as "TRAPEZOIDAL PROFILE".

When the travel command is equal or less than vector A + vector B
the algorithm convert the trapezoidal profile into "TRIANGULAR PROFILE"
calculating new vectors A & B with different slopes.(1/2 total travel)

For small travel command (few steps) the algorithm was yielding very sharp slopes stalling the motor. The bug has been found and removed!

Now the motor turns smootly also with few steps travel command at high speed.

The new version software (Stepper_Driver_2) is attached, as a zipped file, to this post.

Please note that the attached schematic (very simple to build) will tremendously improve
small motors performace (max 1.2 A current)

Al.