bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Followup to stepper/planner refactor

Browse Source
This commit is contained in:
Scott Lahteine
2018-05-20 22:20:11 -05:00
parent 6dfbb39f83
commit 435ecb6b67
4 changed files with 20 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
Marlin/src/module/planner.cpp
View File

@ -962,7 +962,7 @@ void Planner::reverse_pass() {
}
// The kernel called by recalculate() when scanning the plan from first to last entry.
void Planner::forward_pass_kernel(const block_t * const previous, block_t* const current, uint8_t block_index) {
void Planner::forward_pass_kernel(const block_t* const previous, block_t* const current, const uint8_t block_index) {
if (previous) {
// If the previous block is an acceleration block, too short to complete the full speed
// change, adjust the entry speed accordingly. Entry speeds have already been reset,
@ -1586,7 +1586,7 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
* Returns true is movement is acceptable, false otherwise
*/
bool Planner::_populate_block(block_t * const block, bool split_move,
const int32_t (&target)[XYZE]
const int32_t (&target)[XYZE]
#if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE]
#endif
@ -2234,7 +2234,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (block->millimeters < 1.0) {
// Fast acos approximation, minus the error bar to be safe
float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18;
const float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18;
// If angle is greater than 135 degrees (octagon), find speed for approximate arc
if (junction_theta > RADIANS(135)) {