A smoother sinusoidal motion profile

I have been looking at the motion problem beyond the snap to realize that its derivative, crackle, was not continuous in my case . So I went ahead and looked for another expression; this time, I used chatGPT, and I asked for a sinusoidal function that: Be continuous. Started and ended at zero. Its definite integral was zero. Consisted of two positive pulses, with a negative pulse in between. It was suggested this function could do the work: j ( t ) = sin ( π t/T ​ ) sin ( 3 π t/T ​ ) So, after some back and forth with the integration constants, I got the signals of the chart you can see on the right. How to use it? Turning that into a look-up table may be the more practical approach, depending on the computing power. In my application, using stepper motors with a step/direction interface requires the determination of the precise moment for each step pulse. That calculation might be done before starting the movement or, iteratively, calculating the time of the next step...