smooth a DC motor movement
You can use simple trajectory planer from linuxcnc.com https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/motion/simple_tp.c
A planner of course just outputs setpoints: position and velocity, now it is up to you to use them for setpoints of a closed loop:







simulate this circuit &ndash; Schematic created using CircuitLab

http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_Tp_Notes