Jerk Acceleration Settings and HAAS G187 Acceleration Profiles

[Dietz0r]

This adds code to implement 3rd order accleration settings over the acceleration ticks of the stepper loop.

With the default settings of 100 acceleration ticks it will update the acceleration values according to the jerk setting with each 10ms block that gets fed into the stepper loop. If a CPU is strong enough to run 1000 acceleration ticks that would net a 1ms Jerk Stepper Loop but 100 or 200 ticks work fine. Tested on 2 independent machines with help from @empyreancnc

Known Issue: The machine moves a bit erratically/stuttery when getting fed jog commands from either a pendant or the IOSender interface, i think this has to do with how those conitinous jog commands are fed to the controller but i wasnt able to veryify or fix the issue on my end. Normal G-Code file execution works as expected. I hope you might have more insight into why this problem arises.

Also added support for HAAS style G187 acceleration profiles currently set to 20%, 40% 60% 80% and 100% of the max settings to allow for fine control during toolpathes and improved surface finishes. Gets called as G187 P1 for 100% speed roughing to G187 P5 for 20% slow finishing.

Hope this helps! :)