nx_motion_plan.nx

nx_motion_plan.nx -- SOVEREIGN PRINTER ARC rung 1a: trapezoidal motion planning (operator is building our OWN printer; the QIDI is inferior). Every motion controller (Klipper/Marlin/GRBL class) reduces a G-code move to an accel/cruise/decel velocity profile and then step pulses. This is that math, integer-exact: distances um, velocities um/s, accel um/s^2, times ms. d_acc = v^2 / (2a). If 2*d_acc <= dist -> TRAPEZOID (accel, cruise, decel). Else -> TRIANGLE: v_peak = isqrt(a * dist) (from v^2 = 2a*(dist/2)). Steps: steps = dist_um * steps_per_mm / 1000 (integer; fractional step carry = next rung). HONEST SCOPE: single-move planning. Junction velocity (lookahead between moves), jerk limits, and the step-pulse interval table for the MCU ISR are the flagged next rungs. LAWS: struct-free, integer-only. license_tier: ORIGINAL