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Code Issues Releases Wiki Activity

More extra travel jerk changes

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Co-Authored-By: josedpedroso <josedpedroso@users.noreply.github.com>
This commit is contained in:
Scott Lahteine 2020-02-26 07:24:36 -06:00
parent 6913a4dfa8
commit 263a7beeb5
1 changed files with 19 additions and 9 deletions
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24
Marlin/src/module/planner.cpp
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@ -2390,6 +2390,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Start with a safe speed (from which the machine may halt to stop immediately). // Start with a safe speed (from which the machine may halt to stop immediately).
float safe_speed = nominal_speed; float safe_speed = nominal_speed;
#ifdef TRAVEL_EXTRA_XYJERK
const float extra_xyjerk = (de <= 0) ? TRAVEL_EXTRA_XYJERK : 0;
#else
constexpr float extra_xyjerk = 0;
#endif
uint8_t limited = 0; uint8_t limited = 0;
#if HAS_LINEAR_E_JERK #if HAS_LINEAR_E_JERK
LOOP_XYZ(i) LOOP_XYZ(i)
@ -2398,13 +2404,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif #endif
{ {
const float jerk = ABS(current_speed[i]); // cs : Starting from zero, change in speed for this axis const float jerk = ABS(current_speed[i]); // cs : Starting from zero, change in speed for this axis
maxj = (max_jerk[axis] // mj : The max jerk setting for this axis
float maxj = max_jerk[i]; // mj : The max jerk setting for this axis
#ifdef TRAVEL_EXTRA_XYJERK #ifdef TRAVEL_EXTRA_XYJERK
if ((TRAVEL_EXTRA_XYJERK) && !de <= 0 && (i == X_AXIS || i == Y_AXIS)) + (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0)
maxj += TRAVEL_EXTRA_XYJERK; // Extra jerk allowance for travel moves
#endif #endif
);
if (jerk > maxj) { // cs > mj : New current speed too fast? if (jerk > maxj) { // cs > mj : New current speed too fast?
if (limited) { // limited already? if (limited) { // limited already?
@ -2457,8 +2461,14 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
: // v_exit <= v_entry coasting axis reversal : // v_exit <= v_entry coasting axis reversal
( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : _MAX(-v_exit, v_entry) ); ( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : _MAX(-v_exit, v_entry) );
if (jerk > max_jerk[axis]) { const float maxj = (max_jerk[axis]
v_factor *= max_jerk[axis] / jerk; #ifdef TRAVEL_EXTRA_XYJERK
+ (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0)
#endif
);
if (jerk > maxj) {
v_factor *= maxj / jerk;
++limited; ++limited;
} }
} }