|
|
|
|
1228
|
vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
|
1228
|
vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
|
1229
|
|
1229
|
|
1230
|
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
|
1230
|
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
|
1231
|
- if (moves_queued() && !UNEAR_ZERO(previous_nominal_speed)) {
|
|
|
|
|
1231
|
+ if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
|
1232
|
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
|
1232
|
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
|
1233
|
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
|
1233
|
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
|
1234
|
const float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
|
1234
|
const float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
|
|
|
|
|
1273
|
}
|
1273
|
}
|
1274
|
}
|
1274
|
}
|
1275
|
|
1275
|
|
1276
|
- if (moves_queued > 1 && !UNEAR_ZERO(previous_nominal_speed)) {
|
|
|
|
|
1276
|
+ if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
|
1277
|
// Estimate a maximum velocity allowed at a joint of two successive segments.
|
1277
|
// Estimate a maximum velocity allowed at a joint of two successive segments.
|
1278
|
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
|
1278
|
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
|
1279
|
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
|
1279
|
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
|