Implement path planning (using trapezoid planning) and execute using constant jerk, so it will be smoother. Implemented in javascript and html so anyone can learn and implement it somewhere else.
The file contain some function for adding path to the system, and to start the motion loop.
# trapezoid planner, level 1
addmove(speed,xtarget,ytarget,ztarget);
startmove(); // this will start planning the path and store to level 2 buffer
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# constant jerk buffer, level 2
startmove1(); // actual start move
coreloop1(); // call to iterate motion based on time steps, automatically call the startmove1 if a path has ended its motion loop.