ManuelW/grbl-LPC-CoreXY
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Make sure we don't accelerate above the nominal_rate

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jvangrin 2011-07-05 16:57:03 -05:00
parent 926d74fcb7
commit d9a7fc4680
1 changed files with 3 additions and 0 deletions
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3
stepper.c
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@ -101,6 +101,9 @@ inline void trapezoid_generator_tick() {
if (current_block) { if (current_block) {
if (step_events_completed < current_block->accelerate_until) { if (step_events_completed < current_block->accelerate_until) {
trapezoid_adjusted_rate += current_block->rate_delta; trapezoid_adjusted_rate += current_block->rate_delta;
if (trapezoid_adjusted_rate > current_block->nominal_rate ) {
trapezoid_adjusted_rate = current_block->nominal_rate;
}
set_step_events_per_minute(trapezoid_adjusted_rate); set_step_events_per_minute(trapezoid_adjusted_rate);
} else if (step_events_completed > current_block->decelerate_after) { } else if (step_events_completed > current_block->decelerate_after) {
// 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