Apply gradual slowdown/speedup to all segments.

prusa3d · Sep 2, 2020 · 8a6f2c9 · 8a6f2c9
1 parent 7728446
commit 8a6f2c9
Showing 1 changed file with 3 additions and 5 deletions.
diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp
@@ -1029,12 +1029,10 @@ Having the real displacement of the head, we can calculate the total movement le
 #ifdef SLOWDOWN
   //FIXME Vojtech: Why moves_queued > 1? Why not >=1?
   // Can we somehow differentiate the filling of the buffer at the start of a g-code from a buffer draining situation?
-  if (moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE >> 1)) {
+  if (moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE - 1)) {
       // segment time in micro seconds
-      unsigned long segment_time = lround(1000000.0/inverse_second);
-      if (segment_time < cs.minsegmenttime)
-          // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-          inverse_second=1000000.0/(segment_time+lround(2*(cs.minsegmenttime-segment_time)/moves_queued));
+
+      inverse_second *= pow(0.85,(BLOCK_BUFFER_SIZE - moves_queued - 1));
   }
 #endif // SLOWDOWN