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[2.0.x] 6th-order jerk-controlled motion planning in real-time for AVR (#10373)

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Eduardo José Tagle
2018-04-11 20:13:42 -03:00
committed by Scott Lahteine
parent 5676b187b4
commit 57a899a412
5 changed files with 1265 additions and 126 deletions
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6
Marlin/src/module/planner.h
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@ -96,8 +96,10 @@ typedef struct {
#if ENABLED(BEZIER_JERK_CONTROL)
uint32_t cruise_rate; // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase
int32_t acceleration_time, // Acceleration time and deceleration time in STEP timer counts
deceleration_time;
uint32_t acceleration_time, // Acceleration time and deceleration time in STEP timer counts
deceleration_time;
uint32_t acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used
deceleration_time_inverse;
#else
int32_t acceleration_rate; // The acceleration rate used for acceleration calculation
#endif