From d2cbca36e89c408bb86de71eed79858e88905e3b Mon Sep 17 00:00:00 2001 From: Simen Svale Skogsrud Date: Tue, 25 Jan 2011 14:09:44 +0100 Subject: [PATCH] cleanup --- stepper_plan.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/stepper_plan.h b/stepper_plan.h index e2c825d..63cb42b 100644 --- a/stepper_plan.h +++ b/stepper_plan.h @@ -40,10 +40,12 @@ struct Block { uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute // Fields used by the motion planner to manage acceleration - double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis + double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis double nominal_speed; // The nominal speed for this block in mm/min double millimeters; // The total travel of this block in mm - double entry_factor; // The factors representing the change in speed at the start of the trapezoid + double entry_factor; // The factor representing the change in speed at the start of this trapezoid. + // (The end of the curren speed trapezoid is defined by the entry_factor of the + // next block) // Settings for the trapezoid generator uint32_t initial_rate; // The jerk-adjusted step rate at start of block