diff options
| author | kliment <kliment.yanev@gmail.com> | 2011-07-15 20:40:43 +0200 |
|---|---|---|
| committer | kliment <kliment.yanev@gmail.com> | 2011-07-15 20:40:43 +0200 |
| commit | b31c7a837ff5baff89043f3c06b1b2191ed9f79d (patch) | |
| tree | bdbb547d43232526bababbc6ae8c0eeeae75b1f3 /Sprinter | |
| parent | b7b099bb0e0a8797b71abdf50e3da6880a86d967 (diff) | |
Remove float conversions from step loop
Diffstat (limited to 'Sprinter')
| -rw-r--r-- | Sprinter/Sprinter.pde | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 8bb68d7..4d7aa53 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1170,8 +1170,10 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov #ifdef DEBUG_MOVE_TIME unsigned long startmove = micros(); #endif - - //move until no more steps remain + long long_steps_per_sqr_second=(long) steps_per_sqr_second; + long long_min_speed_steps_per_second=(long) min_speed_steps_per_second; + long long_max_speed_steps_per_second=(long) max_speed_steps_per_second; + //move until no more steps remain THERE SHOULD BE NO FLOAT CALCS INSIDE THIS LOOP while(axis_steps_remaining[0] + axis_steps_remaining[1] + axis_steps_remaining[2] + axis_steps_remaining[3] > 0) { #ifdef DISABLE_CHECK_DURING_ACC if(!accelerating && !decelerating) { @@ -1197,8 +1199,7 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov if (acceleration_enabled && steps_done == 0) { interval = max_interval; } else if (acceleration_enabled && steps_done <= plateau_steps) { - long current_speed = (long) ((((long) steps_per_sqr_second) / 10000) - * ((micros() - start_move_micros) / 100) + (long) min_speed_steps_per_second); + long current_speed = (long_steps_per_sqr_second / 10000)* ((micros() - start_move_micros) / 100) + long_min_speed_steps_per_second; interval = 100000000 / current_speed; if (interval < full_interval) { accelerating = false; @@ -1215,8 +1216,7 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov accelerating = true; decelerating = true; } - long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 10000) - * ((micros() - start_move_micros) / 100))); + long current_speed = long_max_speed_steps_per_second - (((long_steps_per_sqr_second / 10000) * ((micros() - start_move_micros) / 100))); interval = 100000000 / current_speed; if (interval > max_interval) interval = max_interval; |