6.3.2 Velocity

Velocity is the rate of change of displacement. In mathematical terms, $v=\frac{\mathrm{d}D}{\mathrm{d}t}$. If we know that a robot is running at a constant velocity over a displacement $D$, then $v=\frac{D}{t}$, in which $t$ is the amount of time to cover the displacement $D$ (at constant velocity).

In stepper motor control, velocity is proportional to the frequency of stepping. In other words, $v\propto {f_{\mathrm{step}}}$.