From 59eb77fd28bd051354ed53f162de9e5620ea7cbc Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Mon, 4 Dec 2017 18:53:24 -0600
Subject: [PATCH] =?UTF-8?q?One=20fewer=20move=20required=E2=80=A6?=
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---
Marlin/planner.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index c0eb2ca744..bcd7b6d5d8 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1217,7 +1217,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
- if (moves_queued() && !UNEAR_ZERO(previous_nominal_speed)) {
+ if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
const float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
@@ -1262,7 +1262,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
}
}
- if (moves_queued > 1 && !UNEAR_ZERO(previous_nominal_speed)) {
+ if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Estimate a maximum velocity allowed at a joint of two successive segments.
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.