MotionPlanner: optimize critical section (at the expense of a little more work outside it)
MotionPlanner: optimize critical section (at the expense of a little
more work outside it)

ambrop72/aprinter,ambrop72/aprinter,fixator/aprinter,ambrop72/aprinter,ambrop72/aprinter,johnkingsley/aprinter,johnkingsley/aprinter,johnkingsley/aprinter,fixator/aprinter,johnkingsley/aprinter,ambrop72/aprinter,ambrop72/aprinter,johnkingsley/aprinter,fixator/aprinter,fixator/aprinter,ambrop72/aprinter,johnkingsley/aprinter,fixator/aprinter,fixator/aprinter,johnkingsley/aprinter