From 8349fc89a4a80ce1ce7b1016c002f70285fad330 Mon Sep 17 00:00:00 2001 From: Erik van der Zalm Date: Mon, 16 Dec 2013 11:40:23 +0100 Subject: [PATCH] Fixed planner bug --- Marlin/planner.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 008c8d257f..457988dab5 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -186,9 +186,9 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi long acceleration = block->acceleration_st; int32_t accelerate_steps = - ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration)); + ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration)); int32_t decelerate_steps = - floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration)); + floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration)); // Calculate the size of Plateau of Nominal Rate. int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; @@ -197,7 +197,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi // have to use intersection_distance() to calculate when to abort acceleration and start braking // in order to reach the final_rate exactly at the end of this block. if (plateau_steps < 0) { - accelerate_steps = ceil(intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count)); + accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count)); accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off accelerate_steps = min((uint32_t)accelerate_steps,block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero) plateau_steps = 0;