[ 07 ]lab · simulations

Motion / stepper planner

A trapezoidal or jerk-limited (S-curve) move from a distance, top speed and acceleration, converted to steps through full-step count, microstepping and a gear ratio - degrees for a joint, or a lead-screw pitch for a linear stage.

lab · sims · motion planner

PID tuner →Rise time, overshoot, settling time. Beam deflection →Cantilever, simply-supported and fixed-fixed beams. RC/RLC filter →Bode plot and step response.

The planner [ live ]

profile: —

position

velocity

acceleration

—total steps

—peak step rate

—move time

—output RPM

—peak velocity

Move

distance v_max a_max jerk-limited S-curve jerk limit

Stepper conversion

full steps/rev microsteps gear ratio output

Assumptions and limits. The S-curve is the common case only: long enough to reach both a_max and v_max at the given jerk limit. A move too short for that falls back to the trapezoidal (or triangular) profile and says so above the charts, rather than solving the nested short-move S-curve cases. The step-rate warning threshold (200,000 steps/s) is a labelled assumption about a typical hobby STEP/DIR driver and 8-bit-class MCU timer - a dedicated motion controller can go well past it. Steps are rounded to the nearest whole step; microstepping accuracy in real hardware is lower than the arithmetic suggests, especially at high microstep counts under load.