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Fix acceleration limits

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See: https://github.com/Ultimaker/Marlin/pull/7
This commit is contained in:
Scott Lahteine 2016-03-02 23:49:50 -08:00
parent 13ef12ad3f
commit 614febaaf3
1 changed files with 8 additions and 7 deletions
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15
Marlin/planner.cpp
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@ -742,7 +742,7 @@ float junction_deviation = 0.1;
} }
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks. // Calculate moves/second for this move. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters; float inverse_second = feed_rate * inverse_millimeters;
int moves_queued = movesplanned(); int moves_queued = movesplanned();
@ -853,7 +853,7 @@ float junction_deviation = 0.1;
// Compute and limit the acceleration rate for the trapezoid generator. // Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count / block->millimeters; float steps_per_mm = block->step_event_count / block->millimeters;
long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS]; unsigned long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
if (bsx == 0 && bsy == 0 && bsz == 0) { if (bsx == 0 && bsy == 0 && bsz == 0) {
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
} }
@ -868,11 +868,12 @@ float junction_deviation = 0.1;
xsteps = axis_steps_per_sqr_second[X_AXIS], xsteps = axis_steps_per_sqr_second[X_AXIS],
ysteps = axis_steps_per_sqr_second[Y_AXIS], ysteps = axis_steps_per_sqr_second[Y_AXIS],
zsteps = axis_steps_per_sqr_second[Z_AXIS], zsteps = axis_steps_per_sqr_second[Z_AXIS],
esteps = axis_steps_per_sqr_second[E_AXIS]; esteps = axis_steps_per_sqr_second[E_AXIS],
if ((float)acc_st * bsx / block->step_event_count > xsteps) acc_st = xsteps; allsteps = block->step_event_count;
if ((float)acc_st * bsy / block->step_event_count > ysteps) acc_st = ysteps; if (xsteps < (acc_st * bsx) / allsteps) acc_st = (xsteps * allsteps) / bsx;
if ((float)acc_st * bsz / block->step_event_count > zsteps) acc_st = zsteps; if (ysteps < (acc_st * bsy) / allsteps) acc_st = (ysteps * allsteps) / bsy;
if ((float)acc_st * bse / block->step_event_count > esteps) acc_st = esteps; if (zsteps < (acc_st * bsz) / allsteps) acc_st = (zsteps * allsteps) / bsz;
if (esteps < (acc_st * bse) / allsteps) acc_st = (esteps * allsteps) / bse;
block->acceleration_st = acc_st; block->acceleration_st = acc_st;
block->acceleration = acc_st / steps_per_mm; block->acceleration = acc_st / steps_per_mm;