Simplify Motion and MotionOption.

Implement analytical constant acceleration profile solving for symmetric cases.
Lots of cosmetics.

src/main/java/org/openpnp/machine/marek/MarekNozzle.java

@@ -5,8 +5,8 @@
 import org.openpnp.model.Length;
 import org.openpnp.model.LengthUnit;
 import org.openpnp.model.Location;
+import org.openpnp.model.Motion.MotionOption;
 import org.openpnp.spi.Actuator;
-import org.openpnp.spi.Movable.MoveToOption;
 import org.pmw.tinylog.Logger;
 import org.simpleframework.xml.Element;
 
@@ -23,7 +23,7 @@ public MarekNozzle(String id) {
     }
 
     @Override
-    public void moveTo(Location location, double speed, MoveToOption... options) throws Exception {
+    public void moveTo(Location location, double speed, MotionOption... options) throws Exception {
         Location currentLocation = getLocation().convertToUnits(location.getUnits());
         location = toHeadLocation(location, currentLocation);
 

src/main/java/org/openpnp/machine/neoden4/NeoDen4Driver.java

@@ -21,7 +21,6 @@
 import org.openpnp.spi.Axis;
 import org.openpnp.spi.ControllerAxis;
 import org.openpnp.spi.MotionPlanner.CompletionType;
-import org.openpnp.spi.Movable.MoveToOption;
 import org.openpnp.spi.Nozzle;
 import org.pmw.tinylog.Logger;
 import org.simpleframework.xml.Attribute;
@@ -488,7 +487,7 @@ private void setMoveSpeed(double speed) throws Exception {
     }
 
     @Override
-    public void moveTo(ReferenceHeadMountable hm, Motion motion, MoveToOption... options)
+    public void moveTo(ReferenceHeadMountable hm, Motion motion)
             throws Exception {
         AxesLocation location = motion.getLocation1();
         double feedRate = motion.getFeedRatePerSecond(this);

src/main/java/org/openpnp/machine/reference/ReferenceDriver.java

@@ -25,12 +25,11 @@
 import org.openpnp.model.Motion;
 import org.openpnp.spi.Driver;
 import org.openpnp.spi.MotionPlanner.CompletionType;
-import org.openpnp.spi.Movable.MoveToOption;
 import org.openpnp.spi.PropertySheetHolder;
 import org.openpnp.spi.WizardConfigurable;
 
 /**
- * Defines the interface for a simple driver that the ReferenceMachine can drive. All methods result
+ * Defines the interface for a simple driver that the MotionPlanner can drive. All methods result
  * in machine operations and most methods should block until they are complete or throw an error.
  * 
  * This Driver interface is intended to talk to one controller with Axes and Actuators attached.
@@ -41,8 +40,8 @@
  * MotionPlanner will determine which axes are involved and call the drivers accordingly. 
  * 
  * Drivers should only expose the functionality of the controller in a unified way. They should not add 
- * additional logic on top other than what is needed to make the controller behave like any other 
- * controller. This is different from previous versions of OpenPnP where the driver did much more.
+ * additional logic other than what is needed to make an attached controller behave like any other. This is 
+ * different from previous versions of OpenPnP where the driver did much more. 
  * 
  */
 public interface ReferenceDriver extends Driver, WizardConfigurable, PropertySheetHolder, Closeable {
@@ -73,24 +72,21 @@ public interface ReferenceDriver extends Driver, WizardConfigurable, PropertyShe
     public void setGlobalOffsets(ReferenceMachine machine, AxesLocation axesLocation) throws Exception;
 
     /**
-     * Moves the specified MappedAxes to the given location at a speed defined by (maximum feed
-     * rate * speed) where speed is greater than 0 and typically less than or equal to 1. A speed of
-     * 0 means to move at the minimum possible speed.
+     * Executes the given Motion.
      * 
      * @param hm The HeadMountable having triggered the move. This is mostly for proprietary machine driver support  
-     * and might only be a stand-in in some motion blending scenarios on the GcodeDriver.
-     * @param motion The moveTo Motion to execute, including location, feedrate, acceleration etc. as shaped by the MotionPlanner
-     * @param options Zero to n options from the MoveToOptions enum.
+     * and might only be a stand-in in some motion blending scenarios.
+     * @param motion The moveTo Motion to execute, including target location, feedrate, acceleration etc. as shaped by 
+     * the MotionPlanner
      * @throws Exception
      */
-    public void moveTo(ReferenceHeadMountable hm, Motion motion, MoveToOption... options) throws Exception;
+    public void moveTo(ReferenceHeadMountable hm, Motion motion) throws Exception;
 
     /**
      * Perform a coordinated wait for completion. This must be issued before capturing camera frames etc.
-     * @see org.openpnp.spi.MotionPlanner.waitForCompletion(HeadMountable, CompletionType)  
      * 
      * @param hm The HeadMountable to wait for. If null, wait for all the axes on the driver. Most drivers/controllers will probably 
-     * not be able to wait for just a sub-set of axes but the interface should allow for this. 
+     * not be able to wait for just a sub-set of axes, so the'll wait for all the axes anyway. 
      * @param completionType The kind of completion wanted.
      * @throws Exception 
      */

src/main/java/org/openpnp/machine/reference/ReferenceHead.java

@@ -32,11 +32,11 @@
 import org.openpnp.model.AxesLocation;
 import org.openpnp.model.Configuration;
 import org.openpnp.model.Location;
+import org.openpnp.model.Motion.MotionOption;
 import org.openpnp.model.Part;
 import org.openpnp.spi.Axis;
 import org.openpnp.spi.HeadMountable;
 import org.openpnp.spi.MotionPlanner.CompletionType;
-import org.openpnp.spi.Movable.MoveToOption;
 import org.openpnp.spi.PropertySheetHolder;
 import org.openpnp.spi.base.AbstractHead;
 import org.openpnp.spi.base.AbstractHeadMountable;
@@ -139,7 +139,7 @@ public boolean isInsideSoftLimits(HeadMountable hm, Location location)  throws E
     }
 
     @Override 
-    public void moveTo(HeadMountable hm, Location location, double speed, MoveToOption... options) throws Exception {
+    public void moveTo(HeadMountable hm, Location location, double speed, MotionOption... options) throws Exception {
         ReferenceMachine machine = getMachine();
         AxesLocation mappedAxes = hm.getMappedAxes(machine);
         if (!mappedAxes.isEmpty()) {

src/main/java/org/openpnp/machine/reference/SimulationModeMachine.java

@@ -46,7 +46,7 @@
 import org.openpnp.spi.Feeder;
 import org.openpnp.spi.HeadMountable;
 import org.openpnp.spi.Machine;
-import org.openpnp.spi.Movable.LocationOption;
+import org.openpnp.spi.Locatable.LocationOption;
 import org.openpnp.spi.Nozzle;
 import org.openpnp.util.NanosecondTime;
 import org.pmw.tinylog.Logger;

src/main/java/org/openpnp/machine/reference/axis/ReferenceCamClockwiseAxis.java

@@ -25,7 +25,7 @@
 import org.openpnp.machine.reference.axis.wizards.ReferenceCamClockwiseAxisConfigurationWizard;
 import org.openpnp.model.AxesLocation;
 import org.openpnp.model.Configuration;
-import org.openpnp.spi.Movable.LocationOption;
+import org.openpnp.spi.Locatable.LocationOption;
 import org.openpnp.spi.base.AbstractMachine;
 import org.openpnp.spi.base.AbstractSingleTransformedAxis;
 

src/main/java/org/openpnp/machine/reference/axis/ReferenceCamCounterClockwiseAxis.java

@@ -27,15 +27,9 @@
 import org.openpnp.model.Configuration;
 import org.openpnp.model.Length;
 import org.openpnp.model.LengthUnit;
-import org.openpnp.model.Location;
-import org.openpnp.spi.Axis;
-import org.openpnp.spi.Movable.LocationOption;
-import org.openpnp.spi.base.AbstractAxis;
-import org.openpnp.spi.base.AbstractControllerAxis;
+import org.openpnp.spi.Locatable.LocationOption;
 import org.openpnp.spi.base.AbstractMachine;
-import org.openpnp.spi.base.AbstractTransformedAxis;
 import org.openpnp.spi.base.AbstractSingleTransformedAxis;
-import org.simpleframework.xml.Attribute;
 import org.simpleframework.xml.Element;
 
 /**

src/main/java/org/openpnp/machine/reference/axis/ReferenceControllerAxis.java

@@ -26,9 +26,6 @@
 import org.openpnp.model.AxesLocation;
 import org.openpnp.model.Length;
 import org.openpnp.model.LengthUnit;
-import org.openpnp.model.Location;
-import org.openpnp.spi.Axis;
-import org.openpnp.spi.Movable.LocationOption;
 import org.openpnp.spi.base.AbstractControllerAxis;
 import org.simpleframework.xml.Attribute;
 import org.simpleframework.xml.Element;

src/main/java/org/openpnp/machine/reference/axis/ReferenceLinearTransformAxis.java

@@ -32,7 +32,7 @@
 import org.openpnp.model.LengthUnit;
 import org.openpnp.spi.Axis;
 import org.openpnp.spi.Machine;
-import org.openpnp.spi.Movable.LocationOption;
+import org.openpnp.spi.Locatable.LocationOption;
 import org.openpnp.spi.base.AbstractAxis;
 import org.openpnp.spi.base.AbstractMachine;
 import org.openpnp.spi.base.AbstractTransformedAxis;

src/main/java/org/openpnp/machine/reference/axis/ReferenceMappedAxis.java

@@ -27,7 +27,7 @@
 import org.openpnp.model.Configuration;
 import org.openpnp.model.Length;
 import org.openpnp.model.LengthUnit;
-import org.openpnp.spi.Movable.LocationOption;
+import org.openpnp.spi.Locatable.LocationOption;
 import org.openpnp.spi.base.AbstractMachine;
 import org.openpnp.spi.base.AbstractSingleTransformedAxis;
 import org.pmw.tinylog.Logger;

src/main/java/org/openpnp/machine/reference/axis/ReferenceVirtualAxis.java

@@ -25,14 +25,9 @@
 import org.openpnp.machine.reference.axis.wizards.ReferenceVirtualAxisConfigurationWizard;
 import org.openpnp.model.AxesLocation;
 import org.openpnp.model.Length;
-import org.openpnp.model.LengthUnit;
 import org.openpnp.spi.Axis;
 import org.openpnp.spi.CoordinateAxis;
-import org.openpnp.spi.Machine;
-import org.openpnp.spi.Movable.LocationOption;
-import org.openpnp.spi.base.AbstractAxis;
 import org.openpnp.spi.base.AbstractCoordinateAxis;
-import org.simpleframework.xml.Element;
 
 /**
  * The ReferenceVirtualAxis is a pseudo-axis used to track a coordinate virtually i.e. without