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Improve planner & stepper PR #263

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This commit is contained in:
Richard Wackerbarth
2015-12-10 07:05:38 -06:00
parent 58658c9279
commit 7a670e3911
2 changed files with 27 additions and 30 deletions
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9
Marlin/planner.cpp
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@@ -227,16 +227,17 @@ void planner_reverse_pass_kernel(block_t* previous, block_t* current, block_t* n
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
// check for maximum allowable speed reductions to ensure maximum possible planned speed.
if (current->entry_speed != current->max_entry_speed) {
float max_entry_speed = current->max_entry_speed;
if (current->entry_speed != max_entry_speed) {
// If nominal length true, max junction speed is guaranteed to be reached. Only compute
// for max allowable speed if block is decelerating and nominal length is false.
if (!current->nominal_length_flag && current->max_entry_speed > next->entry_speed) {
current->entry_speed = min(current->max_entry_speed,
if (!current->nominal_length_flag && max_entry_speed > next->entry_speed) {
current->entry_speed = min(max_entry_speed,
max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
}
else {
current->entry_speed = current->max_entry_speed;
current->entry_speed = max_entry_speed;
}
current->recalculate_flag = true;