Force recalculation of jerk when necessary, and fixed some velocity selections.
Testing replanting if we change entry_velocity.
Testing. DO NOT USE.
More testing
More testing.
Partially implemented ne Forward Differencing and trapezoid calc.
“Pop” forward differencing working. (STILL TESTING. DO NOT USE.)
Cleanup trapezoid generator. (Theme: Don’t change entry_velocity when unnecessary.)
Better handling of move time of skipped moves.
Better fix for time-calc after skipped moves. Much more stable.
Perhaps fixed the crash. More testing needed.
manually accepting merge changes from rob branch
042.01 Merge from rob branch - smoke test passed