Stepper control


I am starting one project with bipolar stepper motors and A4988 driver. One thing I am wondering is it somehow possible to change speed from 0.1 cm/s to 10cm/s in increments of 0.5cm/s with some formula or something like that.
It has 1/2-4-8 stepping steps, and how to switch between them by selecting speed, or I have to manually enter delay and microstepping for every speed?

Use the delay between steps to create different speeds.

These links may help

Stepper Motor Basics
Simple Stepper Code