Here's what I'm up against ...

You can only adjust the acceleration.
I don't see any way to know what acceleration is required to make the half-way point end up exactly at an interrupt period.
It always ends up somewhere in the middle of a period.

If I new what the velocity would be at the halfway point, I could adjust the acceleration so it reaches the half-way point at exactly an interrupt period.
Except that since the acceleration changed, it won't be at that velocity at the half-way point anymore.
So I don't see any way of predicting the half-way point in order to use the same deceleration slope it uses for acceleration (the yellow line).

I can only change the acceleration at specific times, which coincide with the interrupt periods.
So if I recalculate the deceleration slope at period 6 before it reaches the half-way point, it creates the green line, which should end up at the target perfectly.

If I were to recalculate it after passing the half-way point, the deceleration rate would be higher, and violate the A_Max constraint.

The blue line is the overshooting profile, with it's velocity using the left axis.
The red line is the position, using the right axis.
The parameters for that run were ... A_Max=10, V_Max=100, Target=475.



I'm doing the green line.
But since the green line is actually a slower velocity, it will take longer than shown in the chart to reach the target.
But at least it is calculatable.