6.3.3 Acceleration

Acceleration is the rate of change of velocity. In mathematical terms, $a=\frac{\mathrm{d}v}{\mathrm{d}t}$. If we know that a robot changes its velocity at a constant acceleration, then $a=\frac{v}{t}$, in which $v$ is the velocity after accelerating for $t$ from stationary.

In stepper motor control, acceleration is proportional to the frequency of changing (increment or decrement) ${f_{\mathrm{step}}}$. We call this ${f_{f_{\mathrm{step}}\pm 1}}$.

You need one object of struct FreqDiv just to control acceleration. The call-back function cb_func should be responsible to increment or decrement the freq property of the struct FreqDiv for velocity control. You may also want to maintain a parameter structure (and initialize property cb_param) for acceleration control (to at least indicate whether it is acceleration or deceleration).