3DPrinting/Prusa-Firmware
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Remove cumulative error in segments without cruising (take 2)

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Reduce per-trapezoid calculations
This commit is contained in:
Yuri D'Elia 2020-06-21 16:01:13 +02:00
parent 15548958e9
commit 753e651af3
1 changed files with 1 additions and 3 deletions
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4
Firmware/planner.cpp
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@ -267,9 +267,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
accelerate_steps = block->step_event_count.wide - decelerate_steps;
}
// TODO: not for production
float dist = intersection_distance(entry_speed, exit_speed, block->acceleration, block->millimeters);
max_speed = sqrt(2 * block->acceleration * dist + entry_speed*entry_speed);
max_speed = sqrt(acceleration_x2 * accelerate_steps + initial_rate_sqr) / block->speed_factor;
}
#ifdef LIN_ADVANCE