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@ -1316,8 +1316,8 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
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// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
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// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
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// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
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bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
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const bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
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float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
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const float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
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// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
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// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
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vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
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vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
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// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
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// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
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@ -1449,7 +1449,7 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
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#else
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#else
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#define _EINDEX E_AXIS
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#define _EINDEX E_AXIS
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#endif
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#endif
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long na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]),
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const long na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]),
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nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]),
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nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]),
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nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]),
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nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]),
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ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
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ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
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