added some comments about how one would do clipping against boundaries.

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index dddf267..b5f2deb 100644 (file)
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -1157,6 +1157,7 @@ bool Robot::append_milestone(const float target[], float rate_mm_s)
 
                 //} else if(soft_endstop_truncate) {
                     // TODO VERY hard to do need to go back and change the target, and calculate intercept with the edge
+                    // and store all preceding vectors that have on eor more points ourtside of bounds so we can create a propper clip against the boundaries
 
                 } else {
                     // ignore it