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@@ -267,9 +267,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
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accelerate_steps = block->step_event_count.wide - decelerate_steps;
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}
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- // TODO: not for production
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- float dist = intersection_distance(entry_speed, exit_speed, block->acceleration, block->millimeters);
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- max_speed = sqrt(2 * block->acceleration * dist + entry_speed*entry_speed);
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+ max_speed = sqrt(acceleration_x2 * accelerate_steps + initial_rate_sqr) / block->speed_factor;
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}
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#ifdef LIN_ADVANCE
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