Max speed slow ramp

[shaggy63]

When a drive motor starts moving or changes direction it would be beneficial for the life of the motors to ramp the speed up instead of having a sudden jump from 0 to max speed. Also recommended for blade starts.

Something like:

while (speed_now < PWM_MaxSpeed)
delay(20);
analogWrite(ENAPin, speed_now );
analogWrite(ENBPin, speed_now );
speed_now =speed_now +20;

 if (speed_now > PWM_MaxSpeed) 
 {
  speed_now = PWM_MaxSpeed;
 }

}