Stepper motor speed ramp generator.
Given acceleration, target speed and target step to stop at, generates acceleration or deceleration profile for the stepper motor, in the form of delays between steps.
Uses algorithm from "Generate stepper-motor speed pro les in real time" paper by David Austin.
```rust use stepgen::Stepgen;
let mut stepper = Stepgen::new(1000000);
stepper.setacceleration(1000 << 8).unwrap(); // 1200 steps per second per second stepper.settargetstep(1000); // stop at step 1000 stepper.settarget_speed(800 << 8).unwrap(); // 240RPM (4 turns per second)
// Take 99 steps for _ in 0..99 { println!("{}", stepper.next().unwrap()); }
asserteq!(99, stepper.currentstep()); asserteq!(113621, stepper.currentspeed()); assert_eq!(2242, (stepper.next().unwrap() + 128) >> 8); // delay for 100th step, rounded to nearest integer ```
In few APIs, stepgen keeps numbers as fixed-point numbers, using least significant 8 bits for the fractional part and the remaining bits for the integral part.
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