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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/plan_exec.cpp
+3 -1
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@@ -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;