Reuse trapezoidal code in other trajectory generators #28249
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hold - needs debugging, something broke. |
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There was a bit of code duplication in the trajectory generators. This code reuse also makes it clearer that the poly trajectory generators reuse the time duration and final speed of all phases of the trapezoidal.
I added a couple of cached values (T1_plus_T2 and total duration) to speed up slightly the functions called very often.
This is also a preparation for a small feature I want to try which makes asymmetric profiles for travel moves (lower acceleration on decel phase to reduce ringing after long travel moves).
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