I recently upgraded my CNC router from a tinyG controller running Chilipeppr to a Pokeys57CNC controller running Mach4. In general this has been a great improvement in terms of flexibility and reliability. The one thing that I really miss was the constant jerk motion planner in the tinyG. I was able to get much higher max speeds and accelerations with lower vibration when using a content jerk acceleration profile, and I really miss the smooth motion. Is there any hope of an s curve motion planner being implemented in Mach4?