Bug in acceleration/deceleration

[maxosprojects]

Bug in acceleration/deceleration code.

The following gist is supposed to move the arm left to (200.0, -50.0, 100.0) from initial position (200.0, 50.0, 100.0) and then down to Z=80.

dobot.moveWithSpeed(200.0, -50.0, 100.0, 100)
dobot.moveWithSpeed(200.0, 50.0, 100.0, 100)
dobot.moveWithSpeed(200.0, 50.0, 80.0, 100)

However, the travel to (200.0, 50.0, 100.0) actually moves the arm to (200.0, 100.0, 100.0), hence the following move down also makes a move in Y axis to actually satisfy Y=50