# How to decide velocity profile for two stepper motor in robot driving

A robot has 2 parallel driving wheel. I don't know the friction of the ground surface. However, I can set the acceleration, starting velocity, ending velocity. The velocity profile has to be symmetrical, which has a trapezoidal shape if there's acceleration. If there's no acceleration, the motor starts with the maximum velocity. Though it's possible starting with maximum velocity proved by experiment, am doing IT, electronics is not my specialty. The stepper motor specification doesn't use standard terminology, it confuses me. I have been struggling to find out how to choose a proper settings. "It all depends" is not the solution I am looking for. I want to know how to determine it. A link to the stepper motor specification: http://www.nex-robotics.com/products/micromouse/high-torque-bipolar-stepper-motor.html A link to the motor controller: http://www.trinamic.com/tmctechlibcd/integrated_circuits/TMC222/TMC222_datasheet.pdf

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It's not at all clear what your asking or what your goal is here. Do you just want to know how to calculate the trajectory from acceleration? are you asking us what velocity profile would be "best?" If that is the case, you should understand that there is no objective criterion for how "good" a velocity profile is. – Colin K May 3 '12 at 19:45
Are you suggesting that all stepper motor application has to be tested out without physical theory backing up. – Kevin Q May 8 '12 at 10:19
No, I'm suggesting that nobody has any idea what you are asking. – Colin K May 8 '12 at 14:45
Try to read it again. – Kevin Q May 11 '12 at 9:49
Still not clear what you are asking. Do you want us to tell you how to set up your motor control? If that is the case, then unfortunately "it all depends" IS the answer, whether you like it or not. If you won't give us information about what you are trying to achieve, we cannot give you details about how to do it. – Colin K May 11 '12 at 12:09