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Fixed some small planner bugs

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This commit is contained in:
Erik van der Zalm
2011-11-15 18:14:00 +01:00
parent 5fd41ae872
commit 805d37f77b
4 changed files with 24 additions and 18 deletions
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15
Marlin/planner.cpp
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@@ -72,7 +72,7 @@
unsigned long minsegmenttime;
float max_feedrate[4]; // set the max speeds
float axis_steps_per_unit[4];
long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
float minimumfeedrate;
float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
@@ -153,8 +153,8 @@ inline float intersection_distance(float initial_rate, float final_rate, float a
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
// Limit minimal step rate (Otherwise the timer will overflow.)
if(initial_rate <120) {initial_rate=120; }
@@ -570,7 +570,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
#endif
// Correct the speed
@@ -579,7 +579,12 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
for(int i=0; i < 4; i++) {
if(abs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
// Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
/*
if(speed_factor < 0.1) {
Serial.print("speed factor : "); Serial.println(speed_factor);
Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
}
*/
}
for(unsigned char i=0; i < 4; i++) {
current_speed[i] *= speed_factor;