Added compile time option for jerk controlled motion

2026-08-17 08:31:43 +08:00 · 2024-01-07 20:58:26 +01:00
parent 9f95af13a2
commit e645ddbdd9
6 changed files with 75 additions and 11 deletions
@@ -61,9 +61,11 @@ typedef struct plan_block {
    float entry_speed_sqr;          // The current planned entry speed at block junction in (mm/min)^2
    float max_entry_speed_sqr;      // Maximum allowable entry speed based on the minimum of junction limit and
                                    // neighboring nominal speeds with overrides in (mm/min)^2
-    float acceleration;             // Effective acceleration over plannerblock calculated from trapezoidal movement plan.
+    float acceleration;             // Effective acceleration over plannerblock calculated from trapezoidal movement plan. Does not change in trapezoidal mode.                     
+#if ENABLE_JERK_ACCELERATION   
    float max_acceleration;         // Axis-limit adjusted line acceleration in (mm/min^2). Does not change.
    float jerk;                     // Axis-limit adjusted jerk value in (mm/min^3). Does not change.
+#endif
    float millimeters;              // The remaining distance for this block to be executed in (mm).
                                    // NOTE: This value may be altered by stepper algorithm during execution.