Fixes the issue with the timing moves to arrive by setting the max velocity to desired average velocity. (Which always arrives late.)
Instead, "Bang-Bang" control is now used to plan a constant acceleration during the first half of a move and then the same magnitude constant deceleration during the second half, to arrive at the desired time.
Note: In the event this would require excessive speed, the triangular speed profile will be "flattened" into a trapezoid with height "VEL_MAX" currently set to 1800 clicks/s.
Fixes the issue with the timing moves to arrive by setting the max velocity to desired average velocity. (Which always arrives late.)
Instead, "Bang-Bang" control is now used to plan a constant acceleration during the first half of a move and then the same magnitude constant deceleration during the second half, to arrive at the desired time.
Note: In the event this would require excessive speed, the triangular speed profile will be "flattened" into a trapezoid with height "VEL_MAX" currently set to 1800 clicks/s.