# Trapezoidal and S-curve motion
# Scope: Rest-to-rest symmetric triangular move, no speed cap.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

distance = 0.5 m
acceleration = 2 m/s^2

duration := 2*sqrt(distance/acceleration) [s]
peakSpeed := sqrt(distance*acceleration) [m/s]

check move time budget: duration <= 2 s

scenario alternative: distance = 0.4 m