Thanks for your comment.

- The software architecture is inspired by GRBL. The split of motion blocks into segments is more manageable for the software, and if you choose a segments size small enough, the acceleration will be very smooth.

- I do not try to approximate constant acceleration.

- The GUI is a way for me to test the Gcode and stepper algorithms (the code is the same in the GUI and in the embedded controller).

Please also comment directly on the post.