[EHaskins]

Joe Ross is right.

    //Accelerate
	if (change > max_step)
    {
      RetVal = motor_prev + max_step;
      printf("Motor accelerated by MAX = %d.  ", max_step);
	}
    else
    {
      printf("Motor accelerated by %d.  ", change);
      RetVal = motor_prev + change;
    }
.....

    //Decelerate
    if (change < -max_step)
    {
      RetVal = motor_prev - max_step;
      printf("Motor decelerated by MAX = %d.  ", max_step);
    }
    else
    {
      printf("Motor decelerated by %d.  ", change);
      RetVal = motor_prev - change;
    }