Hi,
I'm definitely no expert either, hence this thread ;-)

I'm not sure I follow your reasoning though. Where should I change acceleration to 1 (-1 actually), at step 38?
If I do that the velocity becomes 122 instead of 123 and the position at tick 39 becomes 3797 instead of 3798....then what should I do?

In order to "hit" 3730 at tick 39 the acceleration at step 38 would have to be 68 (8.5 times that of the programmed rate!) so that the velocity becomes 123-68=55 and the position at tick 39 becomes 3675+55=3730.

BUT, even if I could live with that gross violation of the programmed acceleration (which I just can't) the velocity is now 55 so if I now continue to decelerate at the programmed rate of 8 counts/tick/tick I would end up WAY short since the "deceleration sweet spot" of 3730 was "based" on a velocity of 123.... (Velocity will reach zero at tick 45 at which the position will be 3892 when I shooting for 4690).

I hope that makes sense and if there's something I'm missing (which by no means is unlikely) please elaborate!

/Henrik.