Fix max acceleration limits in planner
The max acceleration limiting was in wrong place.
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@ -915,16 +915,17 @@ Having the real displacement of the head, we can calculate the total movement le
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else
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{
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{
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block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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// Limit acceleration per axis
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if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
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}
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}
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// Limit acceleration per axis
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if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
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if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
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block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
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block->acceleration = block->acceleration_st / steps_per_mm;
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block->acceleration = block->acceleration_st / steps_per_mm;
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block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
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block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
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