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@ -2166,11 +2166,22 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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}
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else {
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NOLESS(junction_cos_theta, -0.999999); // Check for numerical round-off to avoid divide by zero.
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const float sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive.
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// TODO: Technically, the acceleration used in calculation needs to be limited by the minimum of the
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// two junctions. However, this shouldn't be a significant problem except in extreme circumstances.
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vmax_junction_sqr = (JUNCTION_ACCELERATION * JUNCTION_DEVIATION_MM * sin_theta_d2) / (1.0 - sin_theta_d2);
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float junction_unit_vec[JD_AXES] = {
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unit_vec[X_AXIS] - previous_unit_vec[X_AXIS],
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unit_vec[Y_AXIS] - previous_unit_vec[Y_AXIS],
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unit_vec[Z_AXIS] - previous_unit_vec[Z_AXIS]
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#if ENABLED(JUNCTION_DEVIATION_INCLUDE_E)
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, unit_vec[E_AXIS] - previous_unit_vec[E_AXIS]
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#endif
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};
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// Convert delta vector to unit vector
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normalize_junction_vector(junction_unit_vec);
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const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),
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sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive.
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vmax_junction_sqr = (junction_acceleration * JUNCTION_DEVIATION_MM * sin_theta_d2) / (1.0 - sin_theta_d2);
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if (block->millimeters < 1.0) {
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// Fast acos approximation, minus the error bar to be safe
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@ -2178,7 +2189,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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// If angle is greater than 135 degrees (octagon), find speed for approximate arc
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if (junction_theta > RADIANS(135)) {
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const float limit_sqr = block->millimeters / (RADIANS(180) - junction_theta) * JUNCTION_ACCELERATION;
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const float limit_sqr = block->millimeters / (RADIANS(180) - junction_theta) * junction_acceleration;
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NOMORE(vmax_junction_sqr, limit_sqr);
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}
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}
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Scott Lahteine
7 years ago
committed by