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Code Issues Releases Wiki Activity

🐛 Fix homing with FT_MOTION ()

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narno2202 2023-12-31 22:00:57 +01:00 • committed by GitHub
parent 5d1ede08aa
commit 95878df30d
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1 changed files with 5 additions and 7 deletions

12
Marlin/src/module/ft_motion.cpp
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@ -501,11 +501,13 @@ void FTMotion::loadBlockData(block_t * const current_block) {
ratio = moveDist * oneOverLength; ratio = moveDist * oneOverLength;
/* Keep for comprehension
const float spm = totalLength / current_block->step_event_count; // (steps/mm) Distance for each step 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 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 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 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 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, const float accel = current_block->acceleration,
oneOverAccel = 1.0f / accel; oneOverAccel = 1.0f / accel;