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Classical and special relativity in four steps

The most fundamental and pedagogically useful path to the space–time transformations of both classical and special relativity is to postulate the principle of relativity, derive the generalised or Ignatowsky transformation which contains both, then apply two different second postulates that give either the Galilean or Lorentz transformation. What is new here is (a) a simple two-step derivation of the Ignatowsky transformation, (b) a second postulate of universal time which yields the Galilean transformation, and (c) a different second postulate of finite universal lightspeed to give the Lorentz transformation using a simple Ignatowsky transformation of a light wave. This method demonstrates that the fundamental difference between Galilean and Lorentz transformations is not that lightspeed is universal (which is true for both) but whether the model requires lightspeed to be infinite or finite (as once mentioned by Einstein).