Fix max acceleration limits in planner

The max acceleration limiting was in wrong place.
master
alexborro 10 years ago
parent c7067edddf
commit c0b6075f77

@ -915,16 +915,17 @@ Having the real displacement of the head, we can calculate the total movement le
else
{
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
// Limit acceleration per axis
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
}
// Limit acceleration per axis
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
block->acceleration = block->acceleration_st / steps_per_mm;
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));

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