From d9a7fc4680c2228607c4833d41004b89883ef7b8 Mon Sep 17 00:00:00 2001 From: jvangrin Date: Tue, 5 Jul 2011 16:57:03 -0500 Subject: [PATCH] Make sure we don't accelerate above the nominal_rate --- stepper.c | 3 +++ 1 file changed, 3 insertions(+) diff --git a/stepper.c b/stepper.c index 3f33c18..a017852 100644 --- a/stepper.c +++ b/stepper.c @@ -101,6 +101,9 @@ inline void trapezoid_generator_tick() { if (current_block) { if (step_events_completed < current_block->accelerate_until) { trapezoid_adjusted_rate += current_block->rate_delta; + if (trapezoid_adjusted_rate > current_block->nominal_rate ) { + trapezoid_adjusted_rate = current_block->nominal_rate; + } set_step_events_per_minute(trapezoid_adjusted_rate); } else if (step_events_completed > current_block->decelerate_after) { // NOTE: We will only reduce speed if the result will be > 0. This catches small