Fix initial safe_speed in jerk code (#11417)
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1 changed files with 13 additions and 13 deletions
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@ -1947,7 +1947,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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else
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block->millimeters = millimeters;
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const float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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const float inverse_millimeters = 1.0f / block->millimeters; // Inverse millimeters to remove multiple divides
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// Calculate inverse time for this move. No divide by zero due to previous checks.
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// Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0.
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@ -2298,27 +2298,27 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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/**
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* Adapted from Průša MKS firmware
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* https://github.com/prusa3d/Prusa-Firmware
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*
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* Start with a safe speed (from which the machine may halt to stop immediately).
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*/
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const float nominal_speed = SQRT(block->nominal_speed_sqr);
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// Exit speed limited by a jerk to full halt of a previous last segment
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static float previous_safe_speed;
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const float nominal_speed = SQRT(block->nominal_speed_sqr);
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// Start with a safe speed (from which the machine may halt to stop immediately).
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float safe_speed = nominal_speed;
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uint8_t limited = 0;
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LOOP_XYZE(i) {
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const float jerk = ABS(current_speed[i]), maxj = max_jerk[i];
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if (jerk > maxj) {
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if (limited) {
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const float mjerk = maxj * nominal_speed;
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if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk;
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const float jerk = ABS(current_speed[i]), // cs : Starting from zero, change in speed for this axis
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maxj = max_jerk[i]; // mj : The max jerk setting for this axis
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if (jerk > maxj) { // cs > mj : New current speed too fast?
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if (limited) { // limited already?
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const float mjerk = nominal_speed * maxj; // ns*mj
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if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk; // ns*mj/cs
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}
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else {
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++limited;
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safe_speed = maxj;
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safe_speed *= maxj / jerk; // Initial limit: ns*mj/cs
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++limited; // Initially limited
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}
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}
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}
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@ -2620,7 +2620,7 @@ void Planner::reset_acceleration_rates() {
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// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
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void Planner::refresh_positioning() {
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LOOP_XYZE_N(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
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LOOP_XYZE_N(i) steps_to_mm[i] = 1.0f / axis_steps_per_mm[i];
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set_position_mm_kinematic(current_position);
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reset_acceleration_rates();
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}
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