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This commit is contained in:
Alden Hart
2017-01-30 07:15:19 -05:00
parent 8e375b42a4
commit 9867df9858
2 changed files with 6 additions and 4 deletions
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g2core/g2core.cppproj
+3 -3
View File
@@ -68,12 +68,12 @@
<com_atmel_avrdbg_tool_atmelice>
<ToolOptions>
<InterfaceProperties>
<SwdClock>2000000</SwdClock>
<SwdClock>10000000</SwdClock>
</InterfaceProperties>
<InterfaceName>SWD</InterfaceName>
</ToolOptions>
<ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
<ToolNumber>J41800030015</ToolNumber>
<ToolNumber>J41800036434</ToolNumber>
<ToolName>Atmel-ICE</ToolName>
</com_atmel_avrdbg_tool_atmelice>
<UseGdb>True</UseGdb>
@@ -100,7 +100,7 @@
<HWProgramCounterSampling>True</HWProgramCounterSampling>
</PercepioTrace>
<preserveEEPROM>true</preserveEEPROM>
<avrtoolserialnumber>J41800030015</avrtoolserialnumber>
<avrtoolserialnumber>J41800036434</avrtoolserialnumber>
<avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
<avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
<custom>
g2core/plan_exec.cpp
+3 -1
View File
@@ -578,12 +578,14 @@ stat_t mp_exec_aline(mpBuf_t *bf)
// Case (3a) - already decelerating, continue the deceleration.
if (mr->section == SECTION_TAIL) { // if already in a tail don't decelerate. You already are
if (fp_ZERO(mr->r->exit_velocity)) {
// if (mr->r->exit_velocity < 1)) {
cm->hold_state = FEEDHOLD_DECEL_TO_ZERO;
} else {
cm->hold_state = FEEDHOLD_DECEL_CONTINUE;
}
// Case (3b) - currently accelerating - is simply skipped and waited for
// Case (3b) - Currently accelerating - is simply skipped and waited for.
// This is true because to do otherwise the jerk would not have returned to zero.
// Small exception, if we *just started* the head, then we're not actually accelerating yet.
} else if ((mr->section != SECTION_HEAD) || (mr->section_state == SECTION_NEW)) {
mr->entry_velocity = mr->segment_velocity;