编码器解码程序，采用4倍频、闭环精确控制走位，步进电机加减速控制(The encoder decoder, precise control of position by 4 octave, closed loop, stepper motor acceleration and deceleration control)

使用AVR单片机+cpld的控制方式，实现步进电机加减速和步进电机位置控制(Using AVR microcontroller +cpld control method to achieve stepper motor acceleration and deceleration and stepper motor position control)