SunRed/Marlin-Artillery-M600
Archived
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

Fixed planner bug

Browse source
This commit is contained in:
Erik van der Zalm 2013-12-16 11:40:23 +01:00
parent 532289e851
commit 8349fc89a4
1 changed files with 3 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
Marlin/planner.cpp
View file

@ -186,9 +186,9 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
long acceleration = block->acceleration_st; long acceleration = block->acceleration_st;
int32_t accelerate_steps = int32_t accelerate_steps =
ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration)); ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
int32_t decelerate_steps = int32_t decelerate_steps =
floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration)); floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
// Calculate the size of Plateau of Nominal Rate. // Calculate the size of Plateau of Nominal Rate.
int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
@ -197,7 +197,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
// have to use intersection_distance() to calculate when to abort acceleration and start braking // have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block. // in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) { if (plateau_steps < 0) {
accelerate_steps = ceil(intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count)); accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
accelerate_steps = min((uint32_t)accelerate_steps,block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero) accelerate_steps = min((uint32_t)accelerate_steps,block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
plateau_steps = 0; plateau_steps = 0;