docs: Change Kinematics.md images to use a solid white background

Avoid transparent backgrounds as they don't render well if there is a
dark background.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

16 files changed, 268 insertions, 247 deletions

diff --git a/docs/img/corner.svg b/docs/img/corner.svg
index f2e3d0ef..302b3260 100644
--- a/docs/img/corner.svg
+++ b/docs/img/corner.svg
@@ -2,20 +2,23 @@
 <!-- Created with Inkscape (http://www.inkscape.org/) -->
 
 <svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    width="54.904114mm"
    height="6.0860338mm"
    viewBox="0 0 194.54213 21.564687"
    id="svg3506"
    version="1.1"
-   inkscape:version="0.91 r13725"
-   sodipodi:docname="corner.svg">
+   inkscape:version="1.1 (c68e22c387, 2021-05-23)"
+   sodipodi:docname="corner.svg"
+   inkscape:export-filename="/home/kevin/src/reprap/firmware/klipper/docs/img/corner.svg.png"
+   inkscape:export-xdpi="89.734001"
+   inkscape:export-ydpi="89.734001"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
   <defs
      id="defs3508">
     <marker
@@ -99,11 +102,11 @@
      pagecolor="#ffffff"
      bordercolor="#666666"
      borderopacity="1.0"
-     inkscape:pageopacity="0.0"
+     inkscape:pageopacity="1"
      inkscape:pageshadow="2"
      inkscape:zoom="2.49"
-     inkscape:cx="95.030833"
-     inkscape:cy="-0.17370789"
+     inkscape:cx="94.97992"
+     inkscape:cy="0"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="true"
@@ -113,10 +116,11 @@
      fit-margin-bottom="0"
      showborder="false"
      inkscape:window-width="1068"
-     inkscape:window-height="478"
+     inkscape:window-height="487"
      inkscape:window-x="378"
      inkscape:window-y="113"
-     inkscape:window-maximized="0">
+     inkscape:window-maximized="0"
+     inkscape:pagecheckerboard="0">
     <inkscape:grid
        type="xygrid"
        id="grid6021"
@@ -133,7 +137,6 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -156,29 +159,29 @@
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        xml:space="preserve"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:0%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        x="189.09824"
        y="482.48389"
        id="text12656-9"
-       sodipodi:linespacing="125%"
-       transform="matrix(0.98759291,-0.15703579,0.15703579,0.98759291,0,0)"
+       transform="rotate(-9.0348846)"
        inkscape:transform-center-x="1.3563414"
        inkscape:transform-center-y="-5.7099754"><tspan
          sodipodi:role="line"
          id="tspan5552"
          x="189.09824"
-         y="482.48389">move 1</tspan></text>
+         y="482.48389"
+         style="font-size:11.25px;line-height:1.25">move 1</tspan></text>
     <text
        xml:space="preserve"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:11.25000095px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:0%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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        y="379.5321"
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-       sodipodi:linespacing="125%"
-       transform="matrix(0.98949457,0.14457001,-0.14457001,0.98949457,0,0)"><tspan
+       transform="rotate(8.3123803)"><tspan
          sodipodi:role="line"
          id="tspan5554"
          x="427.95532"
-         y="379.5321">move 2</tspan></text>
+         y="379.5321"
+         style="font-size:11.25px;line-height:1.25">move 2</tspan></text>
   </g>
 </svg>
diff --git a/docs/img/corner.svg.png b/docs/img/corner.svg.png
index 12444e7c..8263c5ba 100644
--- a/docs/img/corner.svg.png
+++ b/docs/img/corner.svg.png
diff --git a/docs/img/lookahead-slow.svg b/docs/img/lookahead-slow.svg
index fad4a6d9..89d98b3d 100644
--- a/docs/img/lookahead-slow.svg
+++ b/docs/img/lookahead-slow.svg
@@ -2,23 +2,23 @@
 <!-- Created with Inkscape (http://www.inkscape.org/) -->
 
 <svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    width="97.22496mm"
    height="32.550285mm"
    viewBox="0 0 344.49789 115.33566"
    id="svg2"
    version="1.1"
-   inkscape:version="0.91 r13725"
+   inkscape:version="1.1 (c68e22c387, 2021-05-23)"
    sodipodi:docname="lookahead-slow.svg"
    inkscape:export-filename="/home/kevin/src/reprap/firmware/klipper/docs/img/lookahead-slow.svg.png"
    inkscape:export-xdpi="90"
-   inkscape:export-ydpi="90">
+   inkscape:export-ydpi="90"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
   <defs
      id="defs4">
     <marker
@@ -57,11 +57,11 @@
      pagecolor="#ffffff"
      bordercolor="#666666"
      borderopacity="1.0"
-     inkscape:pageopacity="0.0"
+     inkscape:pageopacity="1"
      inkscape:pageshadow="2"
      inkscape:zoom="1.15"
-     inkscape:cx="3.4198125"
-     inkscape:cy="101.26451"
+     inkscape:cx="3.4782609"
+     inkscape:cy="101.30435"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
@@ -76,7 +76,8 @@
      fit-margin-bottom="0"
      showborder="false"
      inkscape:snap-global="false"
-     showguides="false">
+     showguides="false"
+     inkscape:pagecheckerboard="0">
     <inkscape:grid
        type="xygrid"
        id="grid3436" />
@@ -89,7 +90,6 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -106,27 +106,27 @@
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:0%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        x="434.04257"
        y="365.1282"
-       id="text3349"
-       sodipodi:linespacing="100%"><tspan
+       id="text3349"><tspan
          sodipodi:role="line"
          id="tspan3351"
          x="434.04257"
-         y="365.1282">time</tspan></text>
+         y="365.1282"
+         style="font-size:12.5px;line-height:1">time</tspan></text>
     <text
        xml:space="preserve"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:12.5px;line-height:125%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:0%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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        y="140.27856"
        id="text3353"
-       sodipodi:linespacing="125%"
-       transform="matrix(-0.01601372,-0.99987177,0.99987177,-0.01601372,0,0)"><tspan
+       transform="rotate(-90.917558)"><tspan
          sodipodi:role="line"
          id="tspan3355"
          x="-313.86618"
-         y="140.27856">velocity</tspan></text>
+         y="140.27856"
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     <path
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@@ -146,26 +146,26 @@
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        x="195.45749"
        y="286.52051"
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-       sodipodi:linespacing="125%"><tspan
+       id="text12656-9"><tspan
          sodipodi:role="line"
          id="tspan7078"
          x="195.45749"
-         y="286.52051">move A</tspan></text>
+         y="286.52051"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:0%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
        x="280.5639"
        y="254.60564"
-       id="text12656-9-3"
-       sodipodi:linespacing="125%"><tspan
+       id="text12656-9-3"><tspan
          sodipodi:role="line"
          id="tspan7080"
          x="280.5639"
-         y="254.60564">move B</tspan></text>
+         y="254.60564"
+         style="font-size:11.25px;line-height:1.25">move B</tspan></text>
     <path
        style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:3;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#Arrow1Mend)"
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@@ -180,29 +180,29 @@
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:0%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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-       sodipodi:linespacing="125%"
-       transform="matrix(0.96753827,0.25272454,-0.25272454,0.96753827,0,0)"
+       transform="rotate(14.638795)"
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          x="36.7374"
-         y="252.31848">move A</tspan></text>
+         y="252.31848"
+         style="font-size:11.25px;line-height:1.25">move A</tspan></text>
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;line-height:0%;font-family:'DejaVu Sans';-inkscape-font-specification:'DejaVu Sans, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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          x="-126.26086"
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diff --git a/docs/img/lookahead-slow.svg.png b/docs/img/lookahead-slow.svg.png
index 80450e09..88a14be8 100644
--- a/docs/img/lookahead-slow.svg.png
+++ b/docs/img/lookahead-slow.svg.png
diff --git a/docs/img/lookahead.svg b/docs/img/lookahead.svg
index b5c3df78..295a6a25 100644
--- a/docs/img/lookahead.svg
+++ b/docs/img/lookahead.svg
@@ -2,20 +2,23 @@
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-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
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    id="svg2"
    version="1.1"
-   inkscape:version="0.91 r13725"
-   sodipodi:docname="lookahead.svg">
+   inkscape:version="1.1 (c68e22c387, 2021-05-23)"
+   sodipodi:docname="lookahead.svg"
+   inkscape:export-filename="/home/kevin/src/reprap/firmware/klipper/docs/img/lookahead.svg.png"
+   inkscape:export-xdpi="89.734001"
+   inkscape:export-ydpi="89.734001"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
   <defs
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   <sodipodi:namedview
@@ -23,11 +26,11 @@
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      bordercolor="#666666"
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+     inkscape:pageopacity="1"
      inkscape:pageshadow="2"
      inkscape:zoom="0.94"
-     inkscape:cx="116.54041"
-     inkscape:cy="45.708959"
+     inkscape:cx="117.02128"
+     inkscape:cy="46.276596"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
@@ -42,7 +45,8 @@
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-     showguides="false">
+     showguides="false"
+     inkscape:pagecheckerboard="0">
     <inkscape:grid
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        id="grid3436" />
@@ -55,7 +59,6 @@
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         <dc:type
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-        <dc:title />
       </cc:Work>
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@@ -72,27 +75,27 @@
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index b40e256c..6d833689 100644
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diff --git a/docs/img/ooze.svg b/docs/img/ooze.svg
index a2994048..1b3bf9a9 100644
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+       id="text3430"><tspan
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+         y="337.6456"
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index b9f1090d..013800a3 100644
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diff --git a/docs/img/zigzag.svg b/docs/img/zigzag.svg
index 01eca11b..cb7cb0b8 100644
--- a/docs/img/zigzag.svg
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@@ -2,20 +2,23 @@
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-   xmlns:svg="http://www.w3.org/2000/svg"
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-   inkscape:version="0.91 r13725"
-   sodipodi:docname="zigzag.svg">
+   inkscape:version="1.1 (c68e22c387, 2021-05-23)"
+   sodipodi:docname="zigzag.svg"
+   inkscape:export-filename="/home/kevin/src/reprap/firmware/klipper/docs/img/zigzag.svg.png"
+   inkscape:export-xdpi="90"
+   inkscape:export-ydpi="90"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
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-     inkscape:pageopacity="0.0"
+     inkscape:pageopacity="1"
      inkscape:pageshadow="2"
      inkscape:zoom="1.75"
-     inkscape:cx="167.32577"
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+     inkscape:cx="346.28571"
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+     inkscape:window-width="1031"
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+     showguides="false"
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-       sodipodi:linespacing="100%"><tspan
+       id="text3349"><tspan
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-         y="365.1282">time</tspan></text>
+         y="365.1282"
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index 90118d03..072c950f 100644
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