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authorAlessandro Ranellucci <aar@cpan.org>2011-07-12 12:41:45 +0200
committerAlessandro Ranellucci <aar@cpan.org>2011-07-12 12:41:45 +0200
commit8c13d978e4b0632c4c10953d9c6fa71d7dd45edf (patch)
tree5d6ec76c4bdc4da58525a89aaf508ae896ca1603 /Sprinter
parent1c4cbe4da712fd670abb56ee2c2d0b48ec8d14c4 (diff)
Bugfix: bad math for long distance moves.
Diffstat (limited to 'Sprinter')
-rw-r--r--Sprinter/Sprinter.pde6
1 files changed, 5 insertions, 1 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index 1aa91f7..b31a629 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -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;