i wanted to use smoothie in a 3d printer and wanted to ask, if the planners are syncronised. The steppers all have their own speed and delete the block at different speeds and times. So each planner looks at different parts of the curve. Is the syncronisation done at filling the planner queue ? So the new segment-block enteres the queue if all planner have room left in their queue ? -> The planners have different count of block in the queue and calculate accelleration over this queue ?