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@ -915,6 +915,7 @@ Having the real displacement of the head, we can calculate the total movement le |
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else |
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else |
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{ |
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{ |
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block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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} |
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// Limit acceleration per axis
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// Limit acceleration per axis
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if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) |
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if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) |
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block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; |
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block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; |
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@ -924,7 +925,7 @@ Having the real displacement of the head, we can calculate the total movement le |
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block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; |
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block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; |
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if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS]) |
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if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS]) |
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block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; |
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block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; |
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} |
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block->acceleration = block->acceleration_st / steps_per_mm; |
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block->acceleration = block->acceleration_st / steps_per_mm; |
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block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0))); |
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block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0))); |
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