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Bugfix: bad math for long distance moves.

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This commit is contained in:
Alessandro Ranellucci 2011-07-12 12:41:45 +02:00
parent 1c4cbe4da7
commit 8c13d978e4
1 changed files with 5 additions and 1 deletions
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6
Sprinter/Sprinter.pde
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@ -1010,7 +1010,11 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
}
for(int i = 0; i < NUM_AXIS; i++)
if(axis_steps_remaining[i] >0) {
new_axis_max_intervals[i] = slowest_start_axis_max_interval * axis_steps_remaining[slowest_start_axis] / axis_steps_remaining[i];
// multiplying slowest_start_axis_max_interval by axis_steps_remaining[slowest_start_axis]
// could lead to overflows when we have long distance moves (say, 390625*390625 > sizeof(unsigned long))
float steps_remaining_ratio = axis_steps_remaining[slowest_start_axis] / axis_steps_remaining[i];
new_axis_max_intervals[i] = slowest_start_axis_max_interval * steps_remaining_ratio;
if(i == primary_axis) {
max_interval = new_axis_max_intervals[i];
min_speed_steps_per_second = 100000000 / max_interval;