Simple Smooth Stepper Motor Motion Control from polynomial profiles
"The context and impetus for this project and white paper was a friend's custom 3D printed CNC tool which used a single stepper motor with a pulley and belt, similar to the configuration in many 3D printers, and a sprung loaded tool to perform a repetitive move-and-part tool motion. Unfortunately they weren't able to find a suitably sized stepper motor that was both powerful enough to perform the full motion flawlessly but small enough to not vibrate the printed chassis to pieces. The project also had a pretty underwhelming controller meaning any code solution needed to be very tight."
This code generates the combined smoothStepper.pdf file.
Prerequisits are Python3, Lyx, and pdflatex.
At some point this code really ought to be refactored to be more modular and work with other physical configurations. It's a need-to-get-this-finished mess.