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Remove cumulative error in segments without cruising (take 2)

Reduce per-trapezoid calculations
Yuri D'Elia 3 years ago
parent
15548958e9
commit
753e651af3
1 changed files with 1 additions and 3 deletions
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  1. 1 3
      Firmware/planner.cpp

+ 1 - 3
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