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correction

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This commit is contained in:
Scott Lahteine
2024-04-26 19:24:03 -05:00
parent 89d7e17146
commit 2fb1a2b7a3
1 changed files with 4 additions and 2 deletions
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Marlin/src/module/planner.cpp
+4 -2
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@@ -801,8 +801,10 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
// should protect against it. But removing this code produces judder in direction-switching
// moves. This is because the current discrete stepping math diverges from physical motion under
// constant acceleration when acceleration_steps_per_s2 is large compared to initial/final_rate.
LIMIT(initial_rate, uint32_t(MINIMAL_STEP_RATE), block->nominal_rate);
LIMIT(final_rate, uint32_t(MINIMAL_STEP_RATE), block->nominal_rate);
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE)); // Enforce the minimum speed
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
NOMORE(initial_rate, block->nominal_rate); // NOTE: The nominal rate may be less than MINIMAL_STEP_RATE!
NOMORE(final_rate, block->nominal_rate);
#if ANY(S_CURVE_ACCELERATION, LIN_ADVANCE)
// If we have some plateau time, the cruise rate will be the nominal rate