Darrel,
What, you need more time? Unacceptable, I need a working solution NOW ;-)
Seriously, take all the time you need, I appreciate any and all help!

I know, I found it quite a bit harder....

Since I don't know how you're actually aproaching this I'm just thinking out loud:
On the short moves I'm thinking how it would work out if the distance was simply cut in half and then the actual acceleration value tweaked to fit so we'd hit right on the centermark while accelerating. Then start decelerating at the same slope would make us end up at the target, right? I wonder what the worst case deviation from the set acceleration value would be... Code size and speed is obviosuly of interest as well...

I'm looking forward to see what you come up with!

Don,
Perhaps Darrels aproach is exactly what you're trying to explain but I must I admit I don't quite follow what you're trying to explain.
If an error at the end of the move of alwas less than A_Max is the best we can get then so be it but it sounds like Darrel is really onto something.

Thank you both!
/Henrik.