speed control algorithm of linuxcnc

Hello everone,
              if I want to modify the internal speed planning algorithm of linuxcnc, which file contents should I go and modify.
PS: I am new to linuxcnc, please be more detailed, thank you all


szl

github.com/LinuxCNC/linuxcnc/tree/master/src/emc/tp

Sorry to bother you, but is there any description, video or other material on the internal speed control algorithm of linuxcnc? （I've seen your previous implementation of speed control using Bezier curves and would like to learn about it, the algorithm itself is relatively simple, but not when combined with linuxcnc.
I look forward to hearing from you, thanks again!

There is a video presentation here:

The "speed control" is here github.com/LinuxCNC/linuxcnc/blob/master/src/emc/tp/tp.c#L2385 but it really is only a small part of the story.

Jogging is handled here github.com/LinuxCNC/linuxcnc/blob/master...c/motion/simple_tp.c / .h

I attached a sagemath notebook if you want to play around with the bezier stuff. 

I get the warning on the picture after compiling the source code with debian12.
It compiles successfully with debian11 on a VMware Workstation.