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Finally got around to fixing feed rate logic in wallplotter kinematics so that feedrates in cartesian space are segmented and translated into kinematic space. Also fixed segmentation bug where only one axis was being used for determining segmentation amount.
Also uncovered problem with the way PWM/Servo pulses were being generated under ESP32. This involved changes to convert logic to 32bit for the speedmap in the BESC code. I have tried two different methods for the speedmap. One involves doing 64 bit math on the entire PWM period speedmap. The other involves using the speed map logic on just the portion of the pulse that is changing in the servo pulse which is less intuitive, but more efficient as it only involves 32 bit math. Both work. I have run the wallplotter successfully with both methods and verified waveforms on oscilloscope for both. Sticking with 64 bit version for now as it is clearer????