From 95878df30d737fd08f337491f7e19332fe7ac5ac Mon Sep 17 00:00:00 2001
From: narno2202 <130909513+narno2202@users.noreply.github.com>
Date: Sun, 31 Dec 2023 22:00:57 +0100
Subject: [PATCH] =?UTF-8?q?=F0=9F=90=9B=20Fix=20homing=20with=20FT=5FMOTIO?=
=?UTF-8?q?N=20(#26595)?=
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---
Marlin/src/module/ft_motion.cpp | 12 +++++-------
1 file changed, 5 insertions(+), 7 deletions(-)
diff --git a/Marlin/src/module/ft_motion.cpp b/Marlin/src/module/ft_motion.cpp
index 0e1ade69f0f..ba1361f922b 100644
--- a/Marlin/src/module/ft_motion.cpp
+++ b/Marlin/src/module/ft_motion.cpp
@@ -501,11 +501,13 @@ void FTMotion::loadBlockData(block_t * const current_block) {
ratio = moveDist * oneOverLength;
- /* Keep for comprehension
const float spm = totalLength / current_block->step_event_count; // (steps/mm) Distance for each step
- f_s = spm * current_block->initial_rate, // (steps/s) Start feedrate
- f_e = spm * current_block->final_rate; // (steps/s) End feedrate
+ f_s = spm * current_block->initial_rate; // (steps/s) Start feedrate
+
+ const float f_e = spm * current_block->final_rate; // (steps/s) End feedrate
+
+ /* Keep for comprehension
const float a = current_block->acceleration, // (mm/s^2) Same magnitude for acceleration or deceleration
oneby2a = 1.0f / (2.0f * a), // (s/mm) Time to accelerate or decelerate one mm (i.e., oneby2a * 2
oneby2d = -oneby2a; // (s/mm) Time to accelerate or decelerate one mm (i.e., oneby2a * 2
@@ -527,10 +529,6 @@ void FTMotion::loadBlockData(block_t * const current_block) {
T3 = (F_n - f_e) / a; // (s) Decel Time = difference in feedrate over acceleration
*/
- const float spm = totalLength / current_block->step_event_count,
- f_s = spm * current_block->initial_rate,
- f_e = spm * current_block->final_rate;
-
const float accel = current_block->acceleration,
oneOverAccel = 1.0f / accel;