|
@@ -1044,14 +1044,12 @@ Having the real displacement of the head, we can calculate the total movement le
|
|
|
// Calculate and limit speed in mm/sec for each axis
|
|
|
float current_speed[4];
|
|
|
float speed_factor = 1.0; //factor <=1 do decrease speed
|
|
|
-// maxlimit_status &= ~0xf;
|
|
|
for(int i=0; i < 4; i++)
|
|
|
{
|
|
|
current_speed[i] = delta_mm[i] * inverse_second;
|
|
|
if(fabs(current_speed[i]) > max_feedrate[i])
|
|
|
{
|
|
|
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
|
|
|
- maxlimit_status |= (1 << i);
|
|
|
}
|
|
|
}
|
|
|
|
|
@@ -1133,13 +1131,13 @@ Having the real displacement of the head, we can calculate the total movement le
|
|
|
// Limit acceleration per axis
|
|
|
//FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
|
|
|
if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
|
|
|
- { block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; maxlimit_status |= (X_AXIS_MASK << 4); }
|
|
|
+ { block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; }
|
|
|
if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
|
|
|
- { block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; maxlimit_status |= (Y_AXIS_MASK << 4); }
|
|
|
+ { block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; }
|
|
|
if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
|
|
|
- { block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; maxlimit_status |= (Z_AXIS_MASK << 4); }
|
|
|
+ { block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; }
|
|
|
if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS])
|
|
|
- { block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; maxlimit_status |= (E_AXIS_MASK << 4); }
|
|
|
+ { block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; }
|
|
|
}
|
|
|
// Acceleration of the segment, in mm/sec^2
|
|
|
block->acceleration = block->acceleration_st / steps_per_mm;
|