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small fixes after testing on real hardware. Still no chaining of motions and something odd with arcs

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Simen Svale Skogsrud
2011-02-03 10:42:00 +01:00
parent 420641d13d
commit 4b63cf3ab5
4 changed files with 14 additions and 6 deletions
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5
stepper_plan.c
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@@ -326,6 +326,8 @@ void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_
block->speed_z = block->steps_z*multiplier/settings.steps_per_mm[2];
block->nominal_speed = millimeters*multiplier;
block->nominal_rate = ceil(block->step_event_count*multiplier);
block->millimeters = millimeters;
block->entry_factor = 0.0;
// Compute the acceleration rate for the trapezoid generator. Depending on the slope of the line
// average travel per step event changes. For a line along one axis the travel per step event
@@ -340,8 +342,9 @@ void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_
if (acceleration_management) {
calculate_trapezoid_for_block(block,0,0); // compute a conservative acceleration trapezoid for now
} else {
block->initial_rate = block->nominal_rate;
block->accelerate_until = 0;
block->decelerate_after = 0;
block->decelerate_after = block->step_event_count;
block->rate_delta = 0;
}