From 263a7beeb53a619cc319be2e369ef7604f32af4d Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 26 Feb 2020 07:24:36 -0600 Subject: [PATCH] More extra travel jerk changes Co-Authored-By: josedpedroso --- Marlin/src/module/planner.cpp | 28 +++++++++++++++++++--------- 1 file changed, 19 insertions(+), 9 deletions(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index dd1109011e..7c387ac753 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -2390,6 +2390,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move, // Start with a safe speed (from which the machine may halt to stop immediately). float safe_speed = nominal_speed; + #ifdef TRAVEL_EXTRA_XYJERK + const float extra_xyjerk = (de <= 0) ? TRAVEL_EXTRA_XYJERK : 0; + #else + constexpr float extra_xyjerk = 0; + #endif + uint8_t limited = 0; #if HAS_LINEAR_E_JERK LOOP_XYZ(i) @@ -2398,13 +2404,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move, #endif { const float jerk = ABS(current_speed[i]); // cs : Starting from zero, change in speed for this axis - - float maxj = max_jerk[i]; // mj : The max jerk setting for this axis - - #ifdef TRAVEL_EXTRA_XYJERK - if ((TRAVEL_EXTRA_XYJERK) && !de <= 0 && (i == X_AXIS || i == Y_AXIS)) - maxj += TRAVEL_EXTRA_XYJERK; // Extra jerk allowance for travel moves - #endif + maxj = (max_jerk[axis] // mj : The max jerk setting for this axis + #ifdef TRAVEL_EXTRA_XYJERK + + (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0) + #endif + ); if (jerk > maxj) { // cs > mj : New current speed too fast? if (limited) { // limited already? @@ -2457,8 +2461,14 @@ bool Planner::_populate_block(block_t * const block, bool split_move, : // v_exit <= v_entry coasting axis reversal ( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : _MAX(-v_exit, v_entry) ); - if (jerk > max_jerk[axis]) { - v_factor *= max_jerk[axis] / jerk; + const float maxj = (max_jerk[axis] + #ifdef TRAVEL_EXTRA_XYJERK + + (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0) + #endif + ); + + if (jerk > maxj) { + v_factor *= maxj / jerk; ++limited; } }