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@ -1242,22 +1242,15 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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v_entry *= v_factor;
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}
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// Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
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float jerk =
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(v_exit > v_entry) ?
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((v_entry > 0.f || v_exit < 0.f) ?
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// coasting
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(v_exit - v_entry) :
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// axis reversal
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max(v_exit, -v_entry)) :
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// v_exit <= v_entry
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((v_entry < 0.f || v_exit > 0.f) ?
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// coasting
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(v_entry - v_exit) :
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// axis reversal
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max(-v_exit, v_entry));
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const float jerk = (v_exit > v_entry)
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? // coasting axis reversal
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( (v_entry > 0.f || v_exit < 0.f) ? (v_exit - v_entry) : max(v_exit, -v_entry) )
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: // v_exit <= v_entry coasting axis reversal
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( (v_entry < 0.f || v_exit > 0.f) ? (v_entry - v_exit) : max(-v_exit, v_entry) );
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if (jerk > max_jerk[axis]) {
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v_factor *= max_jerk[axis] / jerk;
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limited = true;
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++limited;
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}
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}
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if (limited) vmax_junction *= v_factor;
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