Hi

I hope everyone is well and safe.

I was wondering if you could help / clarify how acceleration and velocity of bipolar steppers works when connected to STC1003 and StepperController class.

1. Velocity: the VelocityMax in Stepper class is 115,000 but I can set it to much higher value and the motor appears to be working faster. Can you please explain why is the maximum 115,000 and what is the actual effect of setting higher values as velocity? Is 115,000 parameter equivalent of 115,000 microsteps per minute?

2. Acceleration: what exactly is the Stepper.Acceleration parameter and how is it affecting real velocity? I note AccelerationMax is 10,000,000 which looks like quite a large number. For example, can you explain / provide formula used by the controller / graph for a scenario - if I set motor.Velocity=115000 motor.Acceleration to 50,000 - what does the actual velocity curve look like over time over e.g. 100000 steps (or 10s of operation)?

Esentially I am trying to finetune motor so understanding how software parameters are translated in velocity and acceleration would be very helpful.

Thanks