Preparations for acceleration-dependent tangent epsilon:
Scratchwork for ini file parameters
Possible fix for overrun due to spinup?
Fixed speed overrun due to at-speed 2 moves ahead
Fix for acceleration violation due to tangent-parabolic transition
Fixed blend velocity calculation to properly estimate parabolic vs. tangent velocity
incorporated Sam's cycle time measurement XML
Merge branch 'hotfix/acceleration-violations' into circular-blend-arc-alpha