Linuxcnc - s-curve acceleration? (7176e)

Robert Ellenberg is not so active anymore last years. His github channel is stil alive. I merged his code, so i know what he is capable too. Robert is an expert.

For linuxcnc the main folder structure picture is missing. So new academic users, don't know where too find someting.
I prefer to make some thing like the attachment too make things easer to find instead of wasting time on porn.

image missing https://linuxhere.files.wordpress.com/2010/08/lintimeline1.png

I am going to try to sit down over the next month and try my hand at documenting some of the source. I'm doing an LCNC router conversion so I will have some extra motivation.

I'll start off with some kind of an organized approach on Github (unless there is a better, non-MSFT option) and once I have something there I'll check back in on this thread with an update.

Are there any individuals on the forum, or threads I should look to to try to get deeper insight into the codebase?

Is anybody we can pay for, if yes maybe we can start a donation campaign or even a Kickstarter campaign to get money to pay for this development.
what do you think?

No comments?

Sorry, my post is not any kind of update. But instead a question. I'm curious about how many of the "advantages" of limited jerk acceleration processing can be compensated with G-code. I'm sure my naivety is showing...
When I first started using Fusion360 to write toolpaths for an older commercial CNC router (instead of ArtCam) I immediately noticed a different personality to the motion. I would think that if your G-code is coarse then your only hope for smooth motion and optimized acceleration is for your controller to manipulate the situation. But if the G-code is more data dense then I can imagine that the bigger acceleration booboos can be handled right at the start. Any comments that might help me understand this more completely?

CAM and the actual chosen shape of machined surfaces can have a direct effect on the acceleration and jerk profiles.

If you consider constant surface speed machining, the actual curve you are machining
entirely determines the acceleration and jerk , as long as you don't exceed machine
constraints, the CNC's trajectory planners jerk/acceleration limits have no real effect.