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Fix acceleration limits, when axes have differing requirements. #7

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Fix acceleration limits, when axes have differing requirements. #7

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2 changes: 1 addition & 1 deletion Marlin/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@
# from the commandline with "make HARDWARE_MOTHERBOARD=71" for example

# This defined the board you are compiling for (see Configuration.h for the options)
HARDWARE_MOTHERBOARD ?= 11
HARDWARE_MOTHERBOARD ?= 7

# Arduino source install directory, and version number
ARDUINO_INSTALL_DIR ?= ../../arduino-0022
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20 changes: 15 additions & 5 deletions Marlin/planner.cpp
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Expand Up @@ -620,7 +620,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
}
float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides

// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.

// calculate moves/second for this move. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters;

int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
Expand Down Expand Up @@ -718,15 +719,24 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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];
// acceleration is too fast for x, so limit acceleration to a rate that just passes the test on previous line
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS] * (float)block->step_event_count/(float)block->steps_x;

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];
// acceleration is too fast for y, so limit acceleration to a rate that just passes the test on previous line
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS] * (float)block->step_event_count/(float)block->steps_y;

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];
// acceleration is too fast for e, so limit acceleration to a rate that just passes the test on previous line
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS] * (float)block->step_event_count/(float)block->steps_e;

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];
// acceleration is too fast for z, so limit acceleration to a rate that just passes the test on previous line
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS] * (float)block->step_event_count/(float)block->steps_z;
}
block->acceleration = block->acceleration_st / steps_per_mm;

// TODO: What is the significance of 8.388608? Should it be defined as a constant, or static somewhere? Could it ever change?
block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);

#if 0 // Use old jerk for now
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