jerk limited trajectory planner HAL component

I was interested to test how much a jerk limited tp would help with a large Okuma lathe I have.
I found there were several attempts by micge to put a jerk limited tp in linuxcnc before the look ahead planner was added.
I've pulled out the code from micges/scurve-test2 and made it into a HAL component.
I had done this with the simple_tp for pncconf axis testing - if I could get this to work, I could use pncconf to test the differences.
For now I just made a test panel to run it.


You can see at the end it didn't quite finish properly - looks like negative velocity - and it doesn't quite hit target.
But the other problem is I don't see how on can change the target while it's in motion.
Calling the jogging function resets the state of the planner to the beginning.
I had to add a oneshot to stop it from trying to continuously jog (it would continuously move the target)
Not sure if I can move this any further.
hee it is for anyone interested.

Looks great. Have you seen this thread?

forum.linuxcnc.org/38-general-linuxcnc-q...city-profile?start=0

It may give you another way forward.

It looks great let me know if you want test any code, I think the component aproach can be good