Stepper motor and axis movement should be accelerated, decelerated and smooth. This is important for a variety of reasons including less strain on the axis and the gears, plus inertia compensation.
Agis with Manthos spend some time looking into some options and finally agreed to implement acceleration resulting to smooth tracking using an Arduino Library and amending it a bit. The results is pure awesomeness for our tracker:
This code and implementation goes straight in our v2 design. Code can be found in our repository.