Phil Hord

Nice! I tried to write up some similar descriptions before. The math is so simple but it still only gives us V(t). We still must calculate 1/V(t) to be useful....

To take this two steps further: 1. It would be trivial to extend this to permit variable acceleration. Simple linear acceleration gives smoother velocity curves. 2. A linear approximation can...

Sorry -- Didn't mean to close it. But I wonder, @Wurstnase, should we close it?

Oh, I didn't realize this is a general "Implement ACCELERATION_TEMPORAL" issue. I thought the first comment about a suspected bug in timer was the real issue. Three items come to...

> Thanks, fixed. BTW., feel invited to edit this wiki yourself. Yes, I was going to, but I was too busy to wait for the registration cycle to complete. :-]...

I just noticed your TinyG mention. [Their code relies on heavy math libraries](https://github.com/synthetos/TinyG/blob/master/firmware/tinyg/plan_line.c#L129) and floating point calculations. It must take many millis to plan each movement! I played with implementing...

You will need to fix the negative c_candidate some other way than just "step immediately". Those spikes likely represent lost steps because your stepper cannot react that quickly. But I...

> A step loss happens only if two steps happen at the same time on the same stepper, which happens to be a bug. Right. And I hesitate to add...

I am seeing much larger spikes and I see them almost always at the start of a move. They also appear in the simulator. The problem is that during acceleration...

Maybe it makes more sense to do the fast-step recovery in dda_clock. But I was hesitant to modify move_state there outside of an ATOMIC. But I also don't like that...