Algorithm for motor shaft rotation

Task: Create an algorithm of programmed instructions for rotation of motor shaft to generate a gentle rocking motion for motion lounge. Values to be calculated to determine time it takes for (x) degrees of rotation at selected/inputted speed. (B to C) a. The (x) degrees of rotation (B to C) will be a variable. Value to be user inputted. Value to be calculated to determine time for ramp down and ramp up values at selected/inputted speed. (A to B and C to D) Details: RPM = 0 – 10 Maximum Rotation = 360 degrees Rotation Speed = 60 degrees per second @ 10 RPM Rocking Motion instructions: 1. Start at “E” Home 2. Ramp up to selected speed to “D” 3. Ramp down “D” selected speed to “C” stop 4. Reverse direction 5. Ramp up from stop “C” to selected speed “D” 6. Run at selected speed “D” to “B” 7. Ramp down “B” to “A” stop 8. Reverse direction 9. Ramp up from stop “A” to selected speed “B” 10. Run at selected speed “B” to “D” 11. Continue loop until stop button is pressed or end of session (at that time lounge will continue unit reaches proximity switch at “E” Home position if you have any questions please contact me through the PMB. thanks!