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Update planner.h

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First experimental checkin for constant jerk motions
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Dietz0r
2023-10-30 11:37:55 +01:00
committed by GitHub
parent c8619f5b05
commit f00347979c
1 changed files with 3 additions and 1 deletions
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planner.h
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@@ -61,7 +61,9 @@ typedef struct plan_block {
float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2 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 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 // neighboring nominal speeds with overrides in (mm/min)^2
float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2). Does not change. float acceleration; // Effective acceleration over plannerblock calculated from trapezoidal movement plan.
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.
float millimeters; // The remaining distance for this block to be executed in (mm). float millimeters; // The remaining distance for this block to be executed in (mm).
// NOTE: This value may be altered by stepper algorithm during execution. // NOTE: This value may be altered by stepper algorithm during execution.