Soru step motor yavaş kalkış ve duruş kod yardımı

[aljinat]

iyi çalışmalar arduino uno+ 2x tb6600 + 2x nema23 step motorlar bir pan tilt sistemi yaptım. jostick ile kumanda ediyorum. motorların kalkışının sert olması çekimleri olumsuz etkiliyo. yavaş kalkışı ve yavaş duruşu kodlara nasıl ekleyebilirim. tb6600 lerin üstünde pinlerin ayarlarını nasıl yapabilirim ?
teşekkürler

kod:

//Pins
const byte Analog_X_pin = A0; //x-axis readings
const byte Analog_Y_pin = A1; //y-axis readings
const byte Analog_R_pin = A2; //r-axis readings
const byte LED_pin = 3; //PWM output for LED

//Variables
int Analog_X = 0; //x-axis value
int Analog_Y = 0; //y-axis value
int Analog_R = 0; //r-axis value

int Analog_X_AVG = 0; //x-axis value average
int Analog_Y_AVG = 0; //y-axis value average
int Analog_R_AVG = 0; //r-axis value average

int Analog_R_Value = 0; //this is used for the PWM value

void setup()
{

//SERIAL
Serial.begin(9600);
//----------------------------------------------------------------------------
//PINS
pinMode(Analog_X_pin, INPUT);
pinMode(Analog_Y_pin, INPUT);
pinMode(Analog_R_pin, INPUT);
pinMode(LED_pin, OUTPUT);
//----------------------------------------------------------------------------
InitialValues(); //averaging the values of the 3 analog pins (values from potmeters)
//----------------------------------------------------------------------------
//Stepper parameters
//setting up some default values for maximum speed and maximum acceleration
stepper.setMaxSpeed(5000); //SPEED = Steps / second
stepper.setAcceleration(1000); //ACCELERATION = Steps /(second)^2
stepper.setSpeed(500);
delay(500);
//----------------------------------------------------------------------------
stepper2.setMaxSpeed(5000); //SPEED = Steps / second
stepper2.setAcceleration(1000); //ACCELERATION = Steps /(second)^2
stepper2.setSpeed(500);
delay(500);

}

void loop()
{
ReadAnalog();
stepper.runSpeed(); //step the motor (this will step the motor by 1 step at each loop indefinitely)
stepper2.runSpeed();
}

void ReadAnalog()
{
//Reading the 3 potentiometers in the joystick: x, y and r.
Analog_X = analogRead(Analog_X_pin);
Analog_Y = analogRead(Analog_Y_pin);
Analog_R = analogRead(Analog_R_pin);

//if the value is 25 "value away" from the average (midpoint), we allow the update of the speed
//This is a sort of a filter for the inaccuracy of the reading
if(abs(Analog_X-Analog_X_AVG)>25)
{
stepper.setSpeed(5*(Analog_X-Analog_X_AVG));
}
else
{
stepper.setSpeed(0);
}
//----------------------------------------------------------------------------
if(abs(Analog_Y-Analog_Y_AVG)>25)
{
stepper2.setSpeed(5*(Analog_Y-Analog_Y_AVG));
}
else
{
stepper2.setSpeed(0);
}
//----------------------------------------------------------------------------
if(abs(Analog_R-Analog_R_AVG)>25)
{
Analog_R_Value = map(Analog_R, 0, 1023, 0, 255); //10 bit ADC (0-1023) and 8 bit PWM (0-255)
analogWrite(LED_pin, Analog_R_Value); //modify the PWM value
}
}

void InitialValues()
{
//Set the values to zero before averaging
float tempX = 0;
float tempY = 0;
float tempR = 0;
//----------------------------------------------------------------------------
//read the analog 50x, then calculate an average.
//they will be the reference values
for(int i = 0; i<50; i++)
{
tempX += analogRead(Analog_X_pin);
delay(10); //allowing a little time between two readings
tempY += analogRead(Analog_Y_pin);
delay(10);
tempR += analogRead(Analog_R_pin);
delay(10);
}
//----------------------------------------------------------------------------
Analog_X_AVG = tempX/50;
Analog_Y_AVG = tempY/50;
Analog_R_AVG = tempR/50;
//----------------------------------------------------------------------------
Serial.print("AVG_X: ");
Serial.println(Analog_X_AVG);
Serial.print("AVG_Y: ");
Serial.println(Analog_Y_AVG);
Serial.print("AVG_R: ");
Serial.println(Analog_R_AVG);
Serial.println("Calibration finished");
}