[kenavt]

I've played around with the excellent Excel spreadsheet-simulators on the previous page, but I still have a couple more questions. Namely, in the way Paul proposed of designing a motion profile (the "double filter" scheme), how do the filters work, exactly? I see that the parameters T1 and T2 modify the filters, and I see that the filters' role appears to be to shape the motion profile (defining the acceleration and deceleration especially).