I've been playing with the s-curve sketch and it works great in testing using an Easydriver. I'm trying to understand how it all works but I'm puzzled by this:
// Calculate the time at constant velocity
t12 = (Pt/(Vm/1e6))-0.5*(ta+td);
Serial.println(); Serial.println();
Why would it not be t12 = (Pt/(Vm/1e6))-(ta+td) ?