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

Merge pull request #166 from zittix/Marlin_v1

Browse Source 
Fixes #153 for bad call to abs()
This commit is contained in:
ErikZalm 2012-05-16 12:00:22 -07:00
commit bb499421e9
1 changed files with 10 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
Marlin/planner.cpp
View File

@ -555,7 +555,7 @@ 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[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])*extrudemultiply/100.0; delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) { if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) {
block->millimeters = abs(delta_mm[E_AXIS]); block->millimeters = fabs(delta_mm[E_AXIS]);
} else { } else {
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])); block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
} }
@ -591,8 +591,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
float speed_factor = 1.0; //factor <=1 do decrease speed float speed_factor = 1.0; //factor <=1 do decrease speed
for(int i=0; i < 4; i++) { for(int i=0; i < 4; i++) {
current_speed[i] = delta_mm[i] * inverse_second; current_speed[i] = delta_mm[i] * inverse_second;
if(abs(current_speed[i]) > max_feedrate[i]) if(fabs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i])); speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
} }
// Max segement time in us. // Max segement time in us.
@ -696,25 +696,25 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
#endif #endif
// Start with a safe speed // Start with a safe speed
float vmax_junction = max_xy_jerk/2; float vmax_junction = max_xy_jerk/2;
if(abs(current_speed[Z_AXIS]) > max_z_jerk/2) if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
vmax_junction = max_z_jerk/2; vmax_junction = max_z_jerk/2;
vmax_junction = min(vmax_junction, block->nominal_speed); vmax_junction = min(vmax_junction, block->nominal_speed);
if(abs(current_speed[E_AXIS]) > max_e_jerk/2) if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
vmax_junction = min(vmax_junction, max_e_jerk/2); vmax_junction = min(vmax_junction, max_e_jerk/2);
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) { if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2)); float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
if((abs(previous_speed[X_AXIS]) > 0.0001) || (abs(previous_speed[Y_AXIS]) > 0.0001)) { if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed; vmax_junction = block->nominal_speed;
} }
if (jerk > max_xy_jerk) { if (jerk > max_xy_jerk) {
vmax_junction *= (max_xy_jerk/jerk); vmax_junction *= (max_xy_jerk/jerk);
} }
if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) { if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])); vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
} }
if(abs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) { if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
vmax_junction *= (max_e_jerk/abs(current_speed[E_AXIS] - previous_speed[E_AXIS])); vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
} }
} }
block->max_entry_speed = vmax_junction; block->max_entry_speed = vmax_junction;