Hello!

I have a 2.5a stepper motor attached to a NEMA 23. I have set the rescale factor so that when in step mode 1 rotation takes 16 steps. This is working as expected. What I'm trying to figure out is how do I calculate how much time it will take for the motor to go from its current position to the target position. for example, the motor is at 5 and I want to send it to 15 ( the last position in a rotation ) what do I need to do to find out how long that will take in the real world?

I know the acceleration and velocity play a role, but is there a formula or method to know the time in seconds it will take?

Another side question is what is the best way to tell when the motor has passed a specific point in its rotation, I have tried mag sensors and light sensors but both seem to have none negligible delay.

I would appreciate any help I can get! At the very least thank you for reading this post