AgileManufacturing/HUniversal-Production-Utrecht — pull request #22 by apvanzanten (2012-11-08 17:16:07+00:00)
Title: Delta robot motion optimization final

The whole entire thing.
- motion slots, that means that we can write motions to one slot in the motorcontroller while its executing a motion from another.
- mostly two-phased motion (half acceleration, half deceleration)
- All motors move during the exact same time as much as possible, this increases straightness of motion.
- Maximum acceleration based movement API, the motor that moves the furthest will get this acceleration.

I'm sure it still needs some more comments and possibly some code cleanup. Would love it if everyone pitched in to help me find the places where. Also documentation is a thing, I guess that might take most of tomorrow.