🔧 FT Motion Trajectories

MarlinFirmware/Marlin#28082

Co-Authored-By: David Buezas <david.buezas@gmail.com>

config/default/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/3DFabXYZ/Migbot/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/3DMatik/XL/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/ADIMLab/Gantry v1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/ADIMLab/Gantry v2/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Alfawise/U20-bltouch/Configuration_adv.h

@@ -1200,6 +1200,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Alfawise/U20/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AliExpress/CL-260/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AliExpress/UM2pExt/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/A2/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/A2plus/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/A6/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/A8/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/A8plus/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/A9/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/E10/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/E16/BTT SKR 1.3/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/E16/Stock/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/ET4+/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/ET4-Pro/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/ET4/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/ET4X/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/ET5-Pro/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/ET5/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Anet/ET5X/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AnyCubic/Chiron/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AnyCubic/Mega Zero 2.0/Anycubic V1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AnyCubic/Mega Zero/Anycubic V1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AnyCubic/Mega Zero/BigTreeTech SKR Mini MZ V1.0/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AnyCubic/Vyper/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AnyCubic/i3 Mega/Trigorilla AVR/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AnyCubic/i3 Mega/Trigorilla Pro STM32/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/AnyCubic/i3/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/ArmEd/Configuration_adv.h

@@ -1196,6 +1196,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Artillery/Genius Pro/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Artillery/Genius/BLTouch/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Artillery/Genius/V1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Artillery/Hornet/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Artillery/Sidewinder X1/0.9 BMG - E3D V6/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Artillery/Sidewinder X1/V1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Artillery/Sidewinder X2/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Azteeg/X5GT/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIBO/TouchX/cyclops/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIBO/TouchX/default - BLTouch/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIBO/TouchX/default/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIQU/B1 SE Plus/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIQU/B1 SE/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIQU/B1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIQU/BX/Configuration_adv.h

@@ -1192,6 +1192,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIQU/Hurakan/Configuration_adv.h

@@ -1192,6 +1192,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BIQU/Thunder Standard/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BQ/Hephestos/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BQ/Hephestos_2/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/BQ/WITBOX/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/CNC/miniRambo/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/CTC/A13/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/CTC/Bizer/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/CTC/i3 2560 Rev A/no probe/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Cartesio/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Copymaster3D/300/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Copymaster3D/400/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Copymaster3D/500/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 Max/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 2.0/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 3.0/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 Mini/CrealityV1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 Mini/MEEB-3DP/Configuration_adv.h

@@ -1190,6 +1190,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 S4/CrealityV1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 1.2 with TFT35 E3 V3.0/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 v3/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 S5/CrealityV1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 S5/CrealityV2.2 - BLTouch/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 S5/CrealityV427 - BLTouch/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 V2/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 V3/BigTreeTech SKR Mini E3 v3/Configuration_adv.h

@@ -1193,6 +1193,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10 V3/Stock/Configuration_adv.h

@@ -1193,6 +1193,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 2.0/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 3.0/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10/CrealityV1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10S Pro/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10S/BigTreeTech SKR 1.4 Turbo TMC2209/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10S/BigTreeTech SKR 2.0 TMC2209/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 2.0/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 3.0/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10S/BigTreeTech SKR Pro v1.2/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10S/CrealityV1 - BLTouch/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-10S/CrealityV1/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-20 Pro/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-20/RepRapWorld Minitronics20/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-20/Stock/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-30 PrintMill/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-6 SE/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/CR-8/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/Ender-2 Pro/CrealityV24S4/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/Ender-2 Pro/CrealityV423/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/Ender-2/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/Ender-3 Max Neo/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/Ender-3 Max/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/Ender-3 Neo/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */

config/examples/Creality/Ender-3 Pro/BigTreeTech SKR 1.4 Turbo/Configuration_adv.h

@@ -1191,6 +1191,15 @@
                                                 //     smoothing acceleration peaks, which may also smooth curved surfaces.
   #endif
 
+  #define FTM_TRAJECTORY_TYPE   TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
+                                            // TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
+                                            // POLY5:       Like POLY6 with 1.5x but cpu cheaper.
+                                            // POLY6:       Continuous Acceleration (aka S_CURVE).
+                                            // POLY trajectories not only reduce resonances without rounding corners, but also
+                                            // reduce extruder strain due to linear advance.
+
+  #define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
+
   /**
    * Advanced configuration
    */