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Revert the planner acceleration logic somewhat

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This commit is contained in:
Scott Lahteine 2016-07-20 19:19:47 -07:00
parent 209f5c03d0
commit 4226f56f53
1 changed files with 17 additions and 20 deletions
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35
Marlin/planner.cpp
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@ -946,26 +946,23 @@ void Planner::check_axes_activity() {
// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count / block->millimeters;
block->acceleration_steps_per_s2 = ceil((
(block->steps[X_AXIS] == 0 && block->steps[Y_AXIS] == 0 && block->steps[Z_AXIS] == 0) ?
retract_acceleration : block->steps[E_AXIS] == 0 ?
travel_acceleration :
acceleration
) * steps_per_mm
);
if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
block->acceleration_steps_per_s2 = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else {
// Limit acceleration per axis
long acc_st = block->acceleration_steps_per_s2;
if (max_acceleration_steps_per_s2[X_AXIS] < (acc_st * block->steps[X_AXIS]) / block->step_event_count)
acc_st = (max_acceleration_steps_per_s2[X_AXIS] * block->step_event_count) / block->steps[X_AXIS];
if (max_acceleration_steps_per_s2[Y_AXIS] < (acc_st * block->steps[Y_AXIS]) / block->step_event_count)
acc_st = (max_acceleration_steps_per_s2[Y_AXIS] * block->step_event_count) / block->steps[Y_AXIS];
if (max_acceleration_steps_per_s2[Z_AXIS] < (acc_st * block->steps[Z_AXIS]) / block->step_event_count)
acc_st = (max_acceleration_steps_per_s2[Z_AXIS] * block->step_event_count) / block->steps[Z_AXIS];
if (max_acceleration_steps_per_s2[E_AXIS] < (acc_st * block->steps[E_AXIS]) / block->step_event_count)
acc_st = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
block->acceleration_steps_per_s2 = acc_st;
block->acceleration = acc_st / steps_per_mm;
block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
block->acceleration_steps_per_s2 = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
if (max_acceleration_steps_per_s2[X_AXIS] < (block->acceleration_steps_per_s2 * block->steps[X_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[X_AXIS] * block->step_event_count) / block->steps[X_AXIS];
if (max_acceleration_steps_per_s2[Y_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Y_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Y_AXIS] * block->step_event_count) / block->steps[Y_AXIS];
if (max_acceleration_steps_per_s2[Z_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Z_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Z_AXIS] * block->step_event_count) / block->steps[Z_AXIS];
if (max_acceleration_steps_per_s2[E_AXIS] < (block->acceleration_steps_per_s2 * block->steps[E_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
}
block->acceleration = block->acceleration_steps_per_s2 / steps_per_mm;
block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) / 8.0));
#if 0 // Use old jerk for now