Paper Title
IMPLEMENTING TRAPEZOIDAL VELOCITY PROFILE FOR PRECISE CONTROL OF STEPPER MOTORS USING ESP32 AND A4988 STEPPER DRIVER WITH NEMA17

Abstract
Abstract - This paper presents a comprehensive study on the implementation of a trapezoidal velocity profile for precise control of stepper motors using an ESP32 microcontroller, an A4988 stepper driver, and a NEMA17 stepper motor. The primary objective of this research is to achieve accurate and smooth motion control by generating a trapezoidal velocity profile, encompassing acceleration, constant velocity, and deceleration phases. The methodology involves a detailed explanation of the hardware setup, the algorithm for trapezoidal profile generation, and the incorporation of an inverse displacement function-based delay mechanism according to current step(pulse). Experimental results demonstrate the successful realization of the desired velocity profile and validate the effectiveness of the proposed delay control approach. The significance of this study lies in its contribution to enhancing the precision and performance of stepper motor applications, with potential implications in robotics, automation, and various other fields requiring precise motion control. Keywords - Trapezoidal Velocity Profile, Motion Control, AS5600 Magnetic Encoder, Pulse Based Velocity Control