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Ive built this kind of thing, its not trivial. Ideally, for exposures over 1 sec anyway, you need to stop for the exposure as in a move-stop-expose-move cycle to prevent blurring. Also allow for ramps at the beginning and end of a sequence (or change in direction in any of the 3 axis) or the video will jerk awkwardly. Then another step up is non linear ramping profiles on stop/start/ and speed or direction changes. This all wildly changes movement calculations for a given required degree sweep for a sequence.
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