diff options
| -rw-r--r-- | klippy/chelper/itersolve.c | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 918c44d0..1094e5f3 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -54,6 +54,8 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m return best_guess; } +#define SEEK_TIME_RESET 0.000100 + // Generate step times for a portion of a move static int32_t itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m @@ -63,8 +65,8 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m double half_step = .5 * sk->step_dist; double start = move_start - m->print_time, end = move_end - m->print_time; struct timepos last = { start, sk->commanded_pos }, low = last, high = last; - double seek_time_delta = 0.000100; - int sdir = !!stepcompress_get_step_dir(sk->sc); + double seek_time_delta = SEEK_TIME_RESET; + int sdir = !!stepcompress_get_step_dir(sk->sc), is_dir_change = 0; for (;;) { double diff = high.position - last.position, dist = sdir ? diff : -diff; if (dist >= half_step) { @@ -79,6 +81,9 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m seek_time_delta = next.time - last.time; if (seek_time_delta < .000000001) seek_time_delta = .000000001; + if (is_dir_change && seek_time_delta > SEEK_TIME_RESET) + seek_time_delta = SEEK_TIME_RESET; + is_dir_change = 0; last.position = target + (sdir ? half_step : -half_step); last.time = next.time; low = next; @@ -87,6 +92,9 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m continue; } else if (unlikely(dist < -(half_step + .000000001))) { // Found direction change + is_dir_change = 1; + if (seek_time_delta > SEEK_TIME_RESET) + seek_time_delta = SEEK_TIME_RESET; if (low.time > last.time) { // Update direction and retry sdir = !sdir; |