Ok, i managed to drive my step motor using pwm and fast outputs, i even tried using timers, it worked, but pwm subroutine is more elegant in my opinion. Now i wonder, there are two inputs for that subroutine, cycle and pulse. I locked my pulse to 1 ms but i would like my motor to gradually ramp up speed, and after some time, gradually stop. Is there a way to program cycle input of my pwm so it changes values from, let say 200, in increment of 5 every 1 s to 2, stay like that for 10 s and thay goes back, in increment of 5s form 2 to 200?