put accleratrion in the block, thi sallows M204 to change acceleration on the fly and also fixes the trapezoid calculation getting the wrng accelertion on a recalculate
Fix the time we switch from accelerate to decelerate to make it symmetric, should peak now at the correct step and actual exit speeds should be correct
change the slowest steps per second speed to the lowest we can do using uint32_t as the base ticker (which is 2steps/sec)
This is necessary as setitn git too high (as it was before) can cause things to get out of sync too easily.
add an initial speed to move() so there is a speed set, default is 2mm/sec this gives the code time to set the real speed
protect against fx_counter going negative in case where speed is changed when fx_counter is less than the current counter (potential race condition)
remove check on speed in tick()
attempt to remove race condition that makes extruder step a little slower so XY needs to wait
Go back to unequal acceleration/deceleration as there is an occasional pause with it.
Make extruder stop on flush queue once decelerated, if following
forgot to remove motor stop in on_halt, will be doine by flush queue
improve handling of flush queue in extruder
use uint64 for fx counter so minimum speed is now much smaller
fix the tick adjustment for interrupt timer overrun
add a number of motors config setting to set the actual number of motors needed and reduce the hardcoded number from 12 to default of 5 to save memory
fix step counter logic
rename moves_finished to a_move_finsihed to be more explicit
switch back to symmetric accel/decel
remove the minimum sterps per minute settings as this is no longer needed as it is autoamtically calculated, minimum planner speed is the correct way to set a minimum speed now.
clean up StepperMotor in StepTicker, the steppermotor array was unsued so removed it, refactor some minor thigns to save more memory
fix extruder issue introduced by c1c802b194
fix on_speed getting zero parameter when it shouldn't do
reimplement minimum step speed for synchronized moves of 20steps/sec
for direct speed settings will be whatever it is set to
introduce set_step_rate() for synchronized axis to call to set step rate (rather than calling set_speed())
refactor to save some more memory
get rid of #define max and use stl::max
use ceilf instead of ceil
make minimum step rate settabl ewith M205
use floorf isntead of floor
add debug pins to makefile, ignored if not set