Scratchwork for ramping function
Added switchover for ramping when smoothing is enabled
Cleaned up smooth velocity update function
Major refactor of cycle update to break it up into simpler operations.
Cleanup and tweaks to demo ramp acceleration with long moves
Formatting cleanup
Merge branch 'feature/vel-ramping' into circular-blend-arc-alpha

Conflicts:
	src/emc/kinematics/tp.c
	tests/trajectory-planner/circular-arcs/circular_arcs.ini