From 89d7e171466b3437dd288d8d6ba5f6c4f6025ac3 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 24 Apr 2024 19:11:16 -0500 Subject: [PATCH] worms! --- Marlin/src/module/planner.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 8f7a80bfaf..5de6e535de 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -798,7 +798,7 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t final_rate = LROUND(block->nominal_rate * exit_factor); // (steps per second) // Legacy check against supposed timer overflow. However Stepper::calc_timer_interval() already - // should protect against it. But removing results in less smooth motion for switching direction + // 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);