AccelerateStepper.ino

#define STEP 12

void setup() {
  // 200 step per revolution motor driver on this pin.
  pinMode(STEP, OUTPUT);
}

void topSpeed_1Turn() {
  for (int i = 0; i < 200; i++) {
    // Issue 1 step.
    digitalWrite(STEP, LOW);
    digitalWrite(STEP, HIGH);

    // 0.5ms, 2k steps per sec. = 10 rotations per sec. = 600 RPM
    delayMicroseconds(500);
  }
}

void loop() {
  // Infinite acceleration, just go!
  // Doesn't work, motor usually stalls.
  topSpeed_1Turn();

  delay(1000);

  // Reduce delay by N every step. Acceleration sharply increases.
  for (int i = 0; i < 187; i++) {
    // Issue 1 step.
    digitalWrite(STEP, LOW);
    digitalWrite(STEP, HIGH);

    // 600 RPM after 187 steps in 0.23 sec.
    delayMicroseconds(max(500, 2000 - i * 8));
  }
  topSpeed_1Turn();

  delay(2000);

  // Start slow.
  long delayUs = 2000;
  // Constant acceleration.
  long acceleration = 20;
  for (int i = 0; i < 94; i++) {
    digitalWrite(STEP, LOW);
    // digitalWrite() is slow enough that we don't need to wait.
    digitalWrite(STEP, HIGH);

    // 600 RPM after 94 steps in 0.07 sec.
    delayUs = min(2000, max(500, 1000000 / (1000000 / delayUs + acceleration * delayUs / 1000)));
    delayMicroseconds(delayUs);
  }
  topSpeed_1Turn();

  delay(3000);
}