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- # NOTE: the step generator module applies its own limits to
- # acceleration and velocity. We have discovered that it needs
- # to have a little "headroom" over the accel by the trajectory
- # planner, otherwise it can fall slightly behind during accel
- # and later overshoot as it catches up. In the long term we
- # hope to come up with a clean fix for this problem. In the
- # meantime, please set STEPGEN_MAXACCEL below to a few percent
- # higher than the regular acceleration limit MAX_ACCELERATION
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