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@ -2390,6 +2390,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move, |
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// Start with a safe speed (from which the machine may halt to stop immediately).
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float safe_speed = nominal_speed; |
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#ifdef TRAVEL_EXTRA_XYJERK |
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const float extra_xyjerk = (de <= 0) ? TRAVEL_EXTRA_XYJERK : 0; |
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#else |
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constexpr float extra_xyjerk = 0; |
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#endif |
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uint8_t limited = 0; |
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#if HAS_LINEAR_E_JERK |
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LOOP_XYZ(i) |
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@ -2398,13 +2404,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move, |
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#endif |
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{ |
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const float jerk = ABS(current_speed[i]); // cs : Starting from zero, change in speed for this axis
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float maxj = max_jerk[i]; // mj : The max jerk setting for this axis
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#ifdef TRAVEL_EXTRA_XYJERK |
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if ((TRAVEL_EXTRA_XYJERK) && !de <= 0 && (i == X_AXIS || i == Y_AXIS)) |
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maxj += TRAVEL_EXTRA_XYJERK; // Extra jerk allowance for travel moves
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#endif |
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maxj = (max_jerk[axis] // mj : The max jerk setting for this axis
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#ifdef TRAVEL_EXTRA_XYJERK |
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+ (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0) |
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#endif |
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); |
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if (jerk > maxj) { // cs > mj : New current speed too fast?
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if (limited) { // limited already?
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@ -2457,8 +2461,14 @@ bool Planner::_populate_block(block_t * const block, bool split_move, |
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: // v_exit <= v_entry coasting axis reversal
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( (v_entry < 0 || v_exit > 0) ? (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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const float maxj = (max_jerk[axis] |
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#ifdef TRAVEL_EXTRA_XYJERK |
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+ (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0) |
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#endif |
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); |
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if (jerk > maxj) { |
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v_factor *= maxj / jerk; |
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++limited; |
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} |
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} |
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