3DPrinting/Prusa-Firmware
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Fixed a bug in the optimized fixed point planner.

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This commit is contained in:
bubnikv 2016-09-01 13:31:50 +02:00
parent 25b4675823
commit 163db2f362
2 changed files with 11 additions and 5 deletions
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14
Firmware/planner.cpp
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@ -226,21 +226,27 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
// accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
// intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
// (2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4.0*acceleration);
// accelerate_steps = (block->step_event_count >> 1) + (final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1 + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
#if 0
accelerate_steps = (block->step_event_count >> 1) + (final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1 + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
#else
accelerate_steps = final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1;
if (block->step_event_count & 1)
accelerate_steps += acceleration_x2;
accelerate_steps += block->step_event_count >> 1;
accelerate_steps /= acceleration_x4;
accelerate_steps += (block->step_event_count >> 1);
#endif
if (accelerate_steps > block->step_event_count)
accelerate_steps = block->step_event_count;
} else {
// decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
#if 0
decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
#else
decelerate_steps = initial_rate_sqr - final_rate_sqr;
if (block->step_event_count & 1)
decelerate_steps += acceleration_x2;
decelerate_steps += block->step_event_count >> 1;
decelerate_steps /= acceleration_x4;
decelerate_steps += (block->step_event_count >> 1);
#endif
if (decelerate_steps > block->step_event_count)
decelerate_steps = block->step_event_count;
accelerate_steps = block->step_event_count - decelerate_steps;

2
Firmware/ultralcd_implementation_hitachi_HD44780.h
View File

@ -691,7 +691,7 @@ static void lcd_implementation_status_screen()
lcd_printPGM(PSTR(" "));
lcd.print(LCD_STR_FEEDRATE[0]);
lcd.print(itostr3(feedmultiply));
lcd_printPGM(PSTR("%% "));
lcd_printPGM(PSTR("% "));
#else
//Print Feedrate
lcd.setCursor(LCD_WIDTH - 8-2, 1);