|
@@ -45,10 +45,10 @@ typedef struct {
|
45
|
45
|
#endif
|
46
|
46
|
|
47
|
47
|
// Fields used by the motion planner to manage acceleration
|
48
|
|
-// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
|
49
|
|
- float nominal_speed; // The nominal speed for this block in mm/min
|
50
|
|
- float entry_speed; // Entry speed at previous-current junction in mm/min
|
51
|
|
- float max_entry_speed; // Maximum allowable junction entry speed in mm/min
|
|
48
|
+// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
|
|
49
|
+ float nominal_speed; // The nominal speed for this block in mm/sec
|
|
50
|
+ float entry_speed; // Entry speed at previous-current junction in mm/sec
|
|
51
|
+ float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
|
52
|
52
|
float millimeters; // The total travel of this block in mm
|
53
|
53
|
float acceleration; // acceleration mm/sec^2
|
54
|
54
|
unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
|