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Fix acceleration limits #3071

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Merged
thinkyhead merged 1 commit into from
Mar 6, 2016
Merged

Fix acceleration limits #3071

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15 changes: 8 additions & 7 deletions Marlin/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -745,7 +745,7 @@ float junction_deviation = 0.1;
}
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides

// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
// Calculate moves/second for this move. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters;

int moves_queued = movesplanned();
Expand Down Expand Up @@ -856,7 +856,7 @@ float junction_deviation = 0.1;

// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count / block->millimeters;
long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
unsigned long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
if (bsx == 0 && bsy == 0 && bsz == 0) {
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
Expand All @@ -871,11 +871,12 @@ float junction_deviation = 0.1;
xsteps = axis_steps_per_sqr_second[X_AXIS],
ysteps = axis_steps_per_sqr_second[Y_AXIS],
zsteps = axis_steps_per_sqr_second[Z_AXIS],
esteps = axis_steps_per_sqr_second[E_AXIS];
if ((float)acc_st * bsx / block->step_event_count > xsteps) acc_st = xsteps;
if ((float)acc_st * bsy / block->step_event_count > ysteps) acc_st = ysteps;
if ((float)acc_st * bsz / block->step_event_count > zsteps) acc_st = zsteps;
if ((float)acc_st * bse / block->step_event_count > esteps) acc_st = esteps;
esteps = axis_steps_per_sqr_second[E_AXIS],
allsteps = block->step_event_count;
if (xsteps < (acc_st * bsx) / allsteps) acc_st = (xsteps * allsteps) / bsx;
if (ysteps < (acc_st * bsy) / allsteps) acc_st = (ysteps * allsteps) / bsy;
if (zsteps < (acc_st * bsz) / allsteps) acc_st = (zsteps * allsteps) / bsz;
if (esteps < (acc_st * bse) / allsteps) acc_st = (esteps * allsteps) / bse;

block->acceleration_st = acc_st;
block->acceleration = acc_st / steps_per_mm;
Expand Down