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More explicit junction/jerk math

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This commit is contained in:
Scott Lahteine
2020-05-04 15:13:37 -05:00
parent 2efe28ca59
commit b8947ac8a5
2 changed files with 4 additions and 6 deletions
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6
Marlin/src/module/planner.cpp
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@ -2304,7 +2304,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),
sin_theta_d2 = SQRT(0.5f * (1.0f - junction_cos_theta)); // Trig half angle identity. Always positive.
vmax_junction_sqr = JUNC_SQ(junction_acceleration, sin_theta_d2);
vmax_junction_sqr = junction_acceleration * junction_deviation_mm * sin_theta_d2 / (1.0f - sin_theta_d2);
if (block->millimeters < 1) {
const float neg = junction_cos_theta < 0 ? -1 : 1,
@ -2340,8 +2340,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* for (float t = 0; t <= 1; t += 0.0003f) {
* const float e = acos(t) / approx(t);
* if (isfinite(e)) {
* NOMORE(min, e);
* NOLESS(max, e);
* if (e < min) min = e;
* if (e > max) max = e;
* }
* }
* fprintf(stderr, "%.9gf, ", (min + max) / 2);