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Smoother motion by fixing calculating trapezoids and ISR stepping. #27013

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Merged
merged 9 commits into from
May 17, 2024
Merged

Smoother motion by fixing calculating trapezoids and ISR stepping. #27013

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549a4f4
Smoother motion by fixing calculating trapezoids and ISR stepping.
mh-dm Apr 16, 2024
1f3f416
semantics changed
thinkyhead Apr 24, 2024
b9c8e24
NOLESS+NOMORE=LIMIT
thinkyhead Apr 25, 2024
30ece3d
worms
thinkyhead Apr 25, 2024
89d7e17
worms!
thinkyhead Apr 25, 2024
2fb1a2b
correction
thinkyhead Apr 27, 2024
81686a3
Merge branch 'bugfix-2.1.x' into pr/27013
thinkyhead May 11, 2024
4b41cd8
Merge branch 'bugfix-2.1.x' into pr/27013
thinkyhead May 17, 2024
2519e73
Merge branch 'bugfix-2.1.x' into pr/27013
thinkyhead May 17, 2024
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6 changes: 2 additions & 4 deletions Marlin/src/module/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -801,10 +801,8 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
// should protect against it. But removing results in less smooth motion for switching direction
// 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.
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE));
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
NOMORE(initial_rate, block->nominal_rate);
NOMORE(final_rate, block->nominal_rate);
LIMIT(initial_rate, uint32_t(MINIMAL_STEP_RATE), block->nominal_rate);
LIMIT(final_rate, uint32_t(MINIMAL_STEP_RATE), block->nominal_rate);

#if ANY(S_CURVE_ACCELERATION, LIN_ADVANCE)
// If we have some plateau time, the cruise rate will be the nominal rate
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