Chris,

> Your first program has 1" long segments, and the second program has
> .5" and ~.4" (pi/8) segments.  That they make approximately the same 
> path doesn't matter.  If you make a rounded-corner square with 1"
> segments (arc length on the corners 1", and the flat sides 1") I predict 
> (but didn't verify) that you'll see matching speed.

I agree completely with your assessment that I was not comparing like to like.  
I now see how I could have been mistaking a line-to-arc transition problem for 
what truly was the velocity clamp on short line segments.

I re-ran the test with code modified as you suggested, expecting to see what 
you predicted.  While the straight line segments now appear to run at similar 
speeds, the arcs on the first square run much faster.   This is another symptom 
of the same problem - clamping the velocity to the an amount that still allows 
a controlled stop in the next segment.  Ignore my earlier reports.

Rogge

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