MPCNC/Firmware
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Pretty up coast / reverse jerk code

Browse Source
This commit is contained in:
Scott Lahteine 2016-12-08 22:50:25 -08:00
parent 3f3b5c86d8
commit af024e1d7c
1 changed files with 7 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
Marlin/planner.cpp
View File

@ -1242,22 +1242,15 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
v_entry *= v_factor; v_entry *= v_factor;
} }
// Calculate jerk depending on whether the axis is coasting in the same direction or reversing. // Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
float jerk = const float jerk = (v_exit > v_entry)
(v_exit > v_entry) ? ? // coasting axis reversal
((v_entry > 0.f || v_exit < 0.f) ? ( (v_entry > 0.f || v_exit < 0.f) ? (v_exit - v_entry) : max(v_exit, -v_entry) )
// coasting : // v_exit <= v_entry coasting axis reversal
(v_exit - v_entry) : ( (v_entry < 0.f || v_exit > 0.f) ? (v_entry - v_exit) : max(-v_exit, v_entry) );
// axis reversal
max(v_exit, -v_entry)) :
// v_exit <= v_entry
((v_entry < 0.f || v_exit > 0.f) ?
// coasting
(v_entry - v_exit) :
// axis reversal
max(-v_exit, v_entry));
if (jerk > max_jerk[axis]) { if (jerk > max_jerk[axis]) {
v_factor *= max_jerk[axis] / jerk; v_factor *= max_jerk[axis] / jerk;
limited = true; ++limited;
} }
} }
if (limited) vmax_junction *= v_factor; if (limited) vmax_junction *= v_factor;