Motion control in an interrupt.

= Parts
This consists of two parts, the planner and the executor.

The planner receives target positions. Each time it receives a target
position, it replans so as to reach that position as soon as possible;
the output of a plan consists of a set of motion segments, each
following a 3rd order polynomial.

The executor processes the current state and decides whether to toggle
the step lines of the MCU.

These two processes communicate by means of a command queue.

== Executor
1. Update a cycle counter
2. Evaluates the next output of the position polynomial (3 adds)
3. determine whether to toggle a stepper, and do so.
4. Determine whether to start the next segment; if so, advance in the command queue.



== Command queue

The command queue takes the form of a ring buffer, with each item
containing a motion segment.  The ring buffer must be large enough to
contain a complete motion profile plus a terminating "stop" segment.

A motion profile segment consists of the following values:

* For step computation
  * Δx1..Δx3 (initial values)
  * start time (in ticks)
* For use by the planner
  * v₀, vₑ: Initial and terminal velocities
  * a₀, aₑ: Initial and terminal acceleration
  * The actual position at the start time (written by executor)

The following invariants hold for the command queue:


== Planner

=== Aborting

In case of an abort, the fastest stop profile will consist of at most
3 segments: const -jerk to max -a, const -a to to lead-out, const +j
to a=v=0. 

If we're already in the last three segments, we're already in
a race to a stop, so there's no need to handle an abort specially.

In the cv segment, we can simply advance the start times of each leadout segment.
In the lead-in, we need to replan; this is, however, easy enough:

1. Predict state in $t_plan$ cycles
2. Identify how to reach a=0; prepare a segment accordingly
3. Feed the end values from said segment to the leadout calculator
4. replace the next N commands with this leadout.



