From c0b6075f7774b425f67f416dd5ff7edc29bb3c5a Mon Sep 17 00:00:00 2001
From: alexborro <alexborro@gmail.com>
Date: Wed, 11 Mar 2015 15:07:35 -0300
Subject: [PATCH] Fix max acceleration limits in planner
The max acceleration limiting was in wrong place.
---
Marlin/planner.cpp | 19 ++++++++++---------
1 file changed, 10 insertions(+), 9 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index be1574e422..999716612b 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -915,16 +915,17 @@ Having the real displacement of the head, we can calculate the total movement le
else
{
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
- // Limit acceleration per axis
- if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
}
+ // Limit acceleration per axis
+ if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
+ block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
+ if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
+ block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
+ if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
+ block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
+ if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
+ block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
+
block->acceleration = block->acceleration_st / steps_per_mm;
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
--
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