This is a quick video demonstrating the implications of using acceleration control. A lego is set on the capstan think of it as the passenger.
The first turn is with acceleration control. 1/8 of the turn accelerates from still to a micro-step period of 20 microseconds, 6/8 of the turn is constant at 20 microseconds, the last 1/8 of the turn decelerates from 20 microseconds to still.
The second turn is performed at a constant micro-step period of 20 microseconds, no acceleration control.
For both turns, microstepping is set to 256 per motor step (51200 micro-steps per turn). Controller is the PICO driving a TMC2208. The microstepping setting in the TMC2208 is done via UART.
