kimstik

@dpgeorge, @stinos Feel free to let me know if I missed anything. Are there any suggestions to improve the chances of a merge?

> > could be added to a TODO/wishlist for post-merge enhancements > > Let's keep it simple and let users decide what they need. > > My point is that...

> AFAIKT your fix increases it to 4*BEZIER_MAX_STEP. Have you checked running code? I got this result by testing: ``` #define BEZIER_MIN_STEP 0.002f #define BEZIER_MAX_STEP 0.1f #define BEZIER_SIGMA 0.1f mc_cubic_b_spline()...

where you see 4*BEZIER_MAX_STEP ? Do you got it by running code?

BTW I like "interp(position.z, target.z, t)" in the [Marlin](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/Marlin/src/module/planner_bezier.cpp#L191). Not ideal but it is much better then no Z interp.

> According to the [description](https://github.com/grblHAL/core/blob/1d0d7b41a41f44f1af5f1f41200f6f88e3215b35/motion_control.c#L445-L448) description: "MAX_STEP is taken at the first iteration." The first iteration with my correction uses MAX_STEP; otherwise, it uses 2*MAX_STEP. This behavior has been fixed...

> My while loop produces the same steps as the Marlin for loop, so the linked Marlin code has the same bug? Or is Marlin using a different float library...