The step motor commutator vibrates.
No special delay is required. But the software should be able to make the speed as a continuous gradient rather than a mutation. "On the analysis of the similar physical inside we throw objects" of sports: first by uniformly retarded motion, speed is reduced to zero after they became a uniformly accelerated motion in the opposite direction. Do not have an operation that "mutates" at a certain speed, or is "mutated" at a certain speed. This "mutation" naturally produces shock vibrations. As for the acceleration of the "uniform acceleration" and "uniform velocity", it can be determined by the inertia size of the step motor's performance and load.
When the load is negative, especially with the synchronous belt, the commutation can make a big noise. The solution is to tighten the band, slow down time, and speed up time. It is best to stop 50mS in the middle
There is only one kind of stupid (a bit more computationally large) in this section, but the reason is clear. You can come up with a smarter and simpler approach on this basis. The method is: Using the timer set periodic interrupt, interrupt the cycle (hereinafter referred to "beat") is equal to high speed stepping motor, pulse frequency cycle. For example, if the step frequency is limited to 2,000 steps per second, the interruption takes 0.5 milliseconds. Then, in the interrupt service program, each cycle for a calculation, see according to the rules above, this time a stepper motor should walk how many steps (can have a decimal). Using the formula in physics, you can not only calculate the location of each moment, but also calculate the instantaneous velocity of each moment (some of the following judgments are to be used).
