From 8349fc89a4a80ce1ce7b1016c002f70285fad330 Mon Sep 17 00:00:00 2001
From: Erik van der Zalm <erik@vdzalm.eu>
Date: Mon, 16 Dec 2013 11:40:23 +0100
Subject: [PATCH] Fixed planner bug
---
Marlin/planner.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 008c8d257f..457988dab5 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -186,9 +186,9 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
long acceleration = block->acceleration_st;
int32_t accelerate_steps =
- ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration));
+ ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
int32_t decelerate_steps =
- floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration));
+ floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
// Calculate the size of Plateau of Nominal Rate.
int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
@@ -197,7 +197,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
- accelerate_steps = ceil(intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
+ accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
accelerate_steps = min((uint32_t)accelerate_steps,block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
plateau_steps = 0;
--
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