controlling acceleration and deceleration of a follower robot

Hello everybody, I Make a quick arduino line follower robot in During the year , And uses homemade quadrature encoder interface module reached encoder read, Finalize the acceleration and deceleration function.

//video of my robot

https://www.youtube.com/watch?v=_x8-mn-7T9o https://www.youtube.com/watch?v=n3RJ4pKWNLY