Well, after actually looking at the code, I have to retract what I said above about doors not supporting acceleration/deceleration.   Set these values on the door:   accel_time N (seconds, default is zero) decel_time M (seconds, default is zero)   By default, doors take 1.75 sec (move_time) to fully open, so make sure your accel and decel times are appropriate.   Accel and decel are linear.   Sorry about the confusion. It always helps to take your meds before opening your mouth!