Update README.md

README.md

@@ -42,3 +42,9 @@ Written in Processing it allows you to see graphically the PID response to a ste
 
 #trapezoidal motion profile
 I reckon the evolution of this project is to offload motion profile generation off main processor. In order to do that firmware needs to be able to achieve motion in a controlled way (which is key for joint axis movement). The first and simpler idea is to use a trapezoidal motion pattern.
+
+New commands have been added for this feature: 
+F<max_velocity>
+@<acceleration>
+Y<destination> 
+The latter is to perform the actual movement to an absolute destination, measured in encoder counts, using a trapezoidal speed motion pattern. No optimization effort in the math has yet been done.