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Folllwup to planner splitting

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Scott Lahteine 2017-12-04 18:55:23 -06:00
parent 37fff608b0
commit 53694ebaa1
1 changed files with 2 additions and 2 deletions
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Marlin/src/module/planner.cpp
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@ -1228,7 +1228,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if (moves_queued() && !UNEAR_ZERO(previous_nominal_speed)) { if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative) // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
const float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] const float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
@ -1273,7 +1273,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
} }
} }
if (moves_queued > 1 && !UNEAR_ZERO(previous_nominal_speed)) { if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Estimate a maximum velocity allowed at a joint of two successive segments. // Estimate a maximum velocity allowed at a joint of two successive segments.
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities, // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used. // then the machine is not coasting anymore and the safe entry / exit velocities shall be used.