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added useful comments about the algorithms used in the acceleration planner

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Simen Svale Skogsrud 2011-01-24 23:08:44 +01:00
parent 32c038ddd3
commit c481c29dc5
2 changed files with 31 additions and 6 deletions
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4
stepper_plan.h
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@ -40,9 +40,9 @@ struct Block {
uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
// Fields used by the motion planner to manage acceleration
double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
double nominal_speed; // The nominal speed for this block in mm/min
double millimeters;
double millimeters; // The total travel of this block in mm
double entry_factor; // The factors representing the change in speed at the start of the trapezoid
// Settings for the trapezoid generator