Going a bit off topic but when Art wrote the Tempest planner and incorporated it into Mach Quantum I think he expected it would migrate into Mach4. Unfortunately it never happened but it was a good product and Art then went on to use Tempest in his current laser control software Auggie.
When I use machine control software incorporating the ‘S’ curve acceleration / deceleration it makes me wonder just how the ‘bang-bang’ trapezoid system has been accepted for so long.

Tweakie.