From 3f3b5c86d88c8f7da86dd5f64d3784febbf92a82 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Thu, 8 Dec 2016 22:24:29 -0800
Subject: [PATCH] Slightly shrink code for jerk-based reduction of safe_speed
---
Marlin/planner.cpp | 21 ++++++++-------------
1 file changed, 8 insertions(+), 13 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 1fcaabd884..b405e0d52f 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1204,22 +1204,17 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
static float previous_safe_speed;
float safe_speed = block->nominal_speed;
- bool limited = false;
+ uint8_t limited = 0;
LOOP_XYZE(i) {
- float jerk = fabs(current_speed[i]);
- if (jerk > max_jerk[i]) {
- // The actual jerk is lower if it has been limited by the XY jerk.
+ const float jerk = fabs(current_speed[i]), maxj = max_jerk[i];
+ if (jerk > maxj) {
if (limited) {
- // Spare one division by a following gymnastics:
- // Instead of jerk *= safe_speed / block->nominal_speed,
- // multiply max_jerk[i] by the divisor.
- jerk *= safe_speed;
- float mjerk = max_jerk[i] * block->nominal_speed;
- if (jerk > mjerk) safe_speed *= mjerk / jerk;
+ const float mjerk = maxj * block->nominal_speed;
+ if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk;
}
else {
- safe_speed = max_jerk[i];
- limited = true;
+ ++limited;
+ safe_speed = maxj;
}
}
}
@@ -1236,7 +1231,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
float v_factor = 1.f;
- limited = false;
+ limited = 0;
// Now limit the jerk in all axes.
LOOP_XYZE(axis) {
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
--
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