ManuelW/grbl-LPC-CoreXY
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Forgot something! Comments on what the last change does.

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Sonny Jeon 2011-10-07 15:51:40 -06:00
parent ca26bb9ccf
commit c98ff4cc2e
1 changed files with 4 additions and 1 deletions
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5
stepper.c
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@ -207,7 +207,10 @@ SIGNAL(TIMER1_COMPA_vect)
if ( iterate_trapezoid_cycle_counter() ) { if ( iterate_trapezoid_cycle_counter() ) {
// NOTE: We will only reduce speed if the result will be > 0. This catches small // NOTE: We will only reduce speed if the result will be > 0. This catches small
// rounding errors that might leave steps hanging after the last trapezoid tick. // rounding errors that might leave steps hanging after the last trapezoid tick.
if (trapezoid_adjusted_rate > current_block->rate_delta) { // The if statement performs a bit shift multiply by 2 to gauge when to begin
// adjusting the rate by half increments. Prevents the long slope at the end of
// deceleration issue that occurs in certain cases.
if ((trapezoid_adjusted_rate << 1) > current_block->rate_delta) {
trapezoid_adjusted_rate -= current_block->rate_delta; trapezoid_adjusted_rate -= current_block->rate_delta;
} else { } else {
trapezoid_adjusted_rate >>= 1; // Bit shift divide by 2 trapezoid_adjusted_rate >>= 1; // Bit shift divide by 2