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axis mockup: better emulate motion

Jose Tiago Macara Coutinho requested to merge mockup_axis_motion into master

Improvements to emulate:

  • real motion with accel + top vel + decel
  • short motions (don't reach top velocity)
  • movements in negative direction
  • limit search
  • hard limit hit

This was needed to do a minimum test with the PEPU (#219 (closed))

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