Quote Originally Posted by Darrel Taylor View Post
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.
Realistically, there will be thousands of intervals, the error will be tiny. We use an interval of 2mS and get a QC count of 1 at 15 RPM to 680 at 10,000 RPM. (using a 512 line encoded motor)
I would suggest to leave the acceleration at the demand rate, and work out when to stop accelerating and run at a constant speed or to decelerate in time to hit the target.