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[1.1.x] Ensure smooth printer movements (#9149)

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- Never execute a block without an up-to-date trapezoid
- Start blocks with MINIMUM_PLANNER_SPEED, except when coming from a full stop
This commit is contained in:
Sebastianv650
2018-01-12 01:50:18 +01:00
committed by Scott Lahteine
parent 4393c3ef7f
commit e2871f0dcd
2 changed files with 14 additions and 5 deletions
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9
Marlin/planner.cpp
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@@ -1341,7 +1341,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// If stepper ISR is disabled, this indicates buffer_segment wants to add a split block.
// In this case start with the max. allowed speed to avoid an interrupted first move.
block->entry_speed = TEST(TIMSK1, OCIE1A) ? MINIMUM_PLANNER_SPEED : min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
@@ -1351,7 +1353,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
// the reverse and forward planners, the corresponding block junction speed will always be at the
// the maximum junction speed and may always be ignored for any speed reduction checks.
block->flag |= BLOCK_FLAG_RECALCULATE | (block->nominal_speed <= v_allowable ? BLOCK_FLAG_NOMINAL_LENGTH : 0);
block->flag |= block->nominal_speed <= v_allowable ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE;
// Update previous path unit_vector and nominal speed
COPY(previous_speed, current_speed);
@@ -1387,9 +1389,6 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
#endif // LIN_ADVANCE
const float bnsr = 1.0 / block->nominal_speed;
calculate_trapezoid_for_block(block, block->entry_speed * bnsr, safe_speed * bnsr);
// Move buffer head
block_buffer_head = next_buffer_head;