trapq: Use separate 'move' entries for accel, cruise, and decel phases

Only track a single acceleration movement in a 'struct move' instance.
Break the classic trapezoid movement (accel, cruise, decel) into three
separate movements.  This simplifies the calculation logic.

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

1 files changed, 1 insertions, 8 deletions

diff --git a/klippy/chelper/trapq.h b/klippy/chelper/trapq.h
index 0c81b330..787d83a4 100644
--- a/klippy/chelper/trapq.h
+++ b/klippy/chelper/trapq.h
@@ -7,16 +7,9 @@ struct coord {
     double x, y, z;
 };
 
-struct move_accel {
-    double c1, c2;
-};
-
 struct move {
     double print_time, move_t;
-    double accel_t, cruise_t;
-    double cruise_start_d, decel_start_d;
-    double cruise_v;
-    struct move_accel accel, decel;
+    double start_v, half_accel;
     struct coord start_pos, axes_r;
 
     struct list_node node;