added useful comments about the algorithms used in the acceleration planner

2011-01-24 23:08:44 +01:00
parent 32c038ddd3
commit c481c29dc5
2 changed files with 31 additions and 6 deletions
--- a/stepper_plan.h
+++ b/stepper_plan.h
@@ -40,9 +40,9 @@ struct Block {
  uint32_t nominal_rate;              // The nominal step rate for this block in step_events/minute
  
  // Fields used by the motion planner to manage acceleration
-  double  speed_x, speed_y, speed_z;  // Nominal mm/minute for each axis
+  double speed_x, speed_y, speed_z;  // Nominal mm/minute for each axis
  double nominal_speed;               // The nominal speed for this block in mm/min
-  double millimeters;
+  double millimeters;                 // The total travel of this block in mm
  double entry_factor;                // The factors representing the change in speed at the start of the trapezoid
  
  // Settings for the trapezoid generator