diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp index d70f7515..bdfc4ca2 100644 --- a/Firmware/planner.cpp +++ b/Firmware/planner.cpp @@ -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; diff --git a/Firmware/ultralcd_implementation_hitachi_HD44780.h b/Firmware/ultralcd_implementation_hitachi_HD44780.h index 2767521e..4d146d50 100644 --- a/Firmware/ultralcd_implementation_hitachi_HD44780.h +++ b/Firmware/ultralcd_implementation_hitachi_HD44780.h @@ -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);