A robot has 2 parallel driving wheel. I don't know the friction of the ground surface. However, I can set the acceleration, starting velocity, ending velocity. The velocity profile has to be symmetrical, which has a trapezoidal shape if there's acceleration. If there's no acceleration, the motor starts with the maximum velocity. Though it's possible starting with maximum velocity proved by experiment, I would like to know some theory to make these decision rather than blind testing. A link to the stepper motor specification: http://www.nex-robotics.com/products/micromouse/high-torque-bipolar-stepper-motor.html A link to the motor controller: http://www.trinamic.com/tmctechlibcd/integrated_circuits/TMC222/TMC222_datasheet.pdf