#include <AccelStepper.h>

AccelStepper stepper(1,3,2);
float speedMultiplier = 1.00005;
int en = 10;

int steps = 200; //number of steps per revolution
long last = 0;
int lag = 500; //time (ms) interval for display
int dir = 1; //direction of rotation
float rpm, v, oldspeed, a;
int nsteps;
 
void setup() {
  Serial.begin(9600); // define Serial output baud rate
  pinMode(en, OUTPUT);
  digitalWrite(en, HIGH);
  stepper.setMaxSpeed(2000); //max speed 2000 steps/s
  stepper.setAcceleration(50);//acceleration rate(steps/s^2)
  stepper.setSpeed(200);
  Serial.println("Outputs:");
  Serial.println("                           (+ve=clockwise, -ve=counter clockwise)");
  Serial.println("No. of Steps      RPM        Acceleration(steps/s^2)       Speed(steps/s)");
  Serial.println("-------------------------------------------------------------------\n");

}
void loop(){
  stepper.runSpeed();
  stepper.setSpeed(stepper.speed() * speedMultiplier);
  if (stepper.speed()==1000)
  stepper.setSpeed(1000);
  stepper.moveTo(20000);
  if (millis() > last + lag) //lag time elapsed since last print
  {
    v = stepper.speed(); //get motor speed (steps/s)
    nsteps = v * lag / pow(10, 3); //No. of steps taken during lag time
    rpm = 60.0 * v / steps; //RPM
    a = (v - oldspeed) * 1000.0 / lag; //Acceleration
    oldspeed = v; //update speed value
    last = millis(); //update last print time


    //Outputs
    //print No. of Steps
    Serial.print(String(nsteps) + "\t\t");
    //print RPM
    Serial.print(String(rpm, 2) + "\t\t");
    //print Acceleration
    Serial.print(String(a, 2) + "\t\t\t");
    //print Speed
    Serial.println(String(v));
  }
}