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This commit is contained in:
Scott Lahteine 2017-12-04 18:53:24 -06:00
parent 860d98a897
commit 59eb77fd28
1 changed files with 2 additions and 2 deletions
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4
Marlin/planner.cpp
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@ -1217,7 +1217,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if (moves_queued() && !UNEAR_ZERO(previous_nominal_speed)) {
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
const float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
@ -1262,7 +1262,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
}
}
if (moves_queued > 1 && !UNEAR_ZERO(previous_nominal_speed)) {
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Estimate a maximum velocity allowed at a joint of two successive segments.
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.