thebears/marlin_skr
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Some fixes in planner

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This commit is contained in:
Erik van der Zalm
2011-11-14 23:57:34 +01:00
parent 95126c09c0
commit 5fd41ae872
3 changed files with 24 additions and 23 deletions
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9
Marlin/planner.cpp
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@@ -490,7 +490,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
square(delta_mm[Z_AXIS]));
square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
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.
@@ -502,7 +502,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// segment time im micro seconds
long segment_time = lround(1000000.0/inverse_second);
if (block->steps_e == 0) {
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
}
@@ -518,8 +518,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
#endif
/*
if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
@@ -531,6 +529,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// END OF SLOW DOWN SECTION
*/
// Calculate speed in mm/sec for each axis
float current_speed[4];
for(int i=0; i < 4; i++) {
@@ -545,7 +544,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
}
// Max segement time in us.
#ifdef XY_FREQUENCY_LIMIT
#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
@@ -575,7 +573,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
#endif
// Correct the speed
if( speed_factor < 1.0) {
// Serial.print("speed factor : "); Serial.println(speed_factor);