Attempting to discover the best algorithm for determining optimal speed reduction in order to pass a corner at maximum speed but within a set jerk limit.
Red: The jerk-limit, Yellow: The actual jerk, Transparent blue: The sum of incoming and outgoing feed rate. The intersection between the red and yellow is the set of candidate cornering factors, the optimum one is the one where the speed is the highest, i.e. where the blue transparent layer is at its tallest.
The final optimizing algorithm must run on the AVR328 in a matter of milliseconds.