Fix for rigid tap tangential vectors
Removed triangle vel pre-calculation since it was too messy to keep straight

Conflicts:
	src/emc/tp/tp.c
Fixed parabolic check

Conflicts:
	src/emc/tp/tp.c
Posemath fixes for self-assignment in C PmCartesian functions

Conflicts:
	src/libnml/posemath/_posemath.c
Converted from pmCartUnit to pmCartUnitEq where possible
Fix for missing velocity limit
Fix for stop issue

When v_next dips below zero, this should not automatically cause
progress to jump to target. a slight underrun should be handled by
tpCheckEndCondition, so now we just clip velocity at zero.
Fix in simulation for parabolic blend issue with v_next
Fix for false positives in parabolic detection
Small rearrangements