checks for exceptional rates

firmware/motion-head/src/smoothie/SmoothieRoll.cpp

@@ -49,8 +49,13 @@ void SmoothieRoll::checkMaxRates(void){
     // we also have per-axis steps per unit, and max rates, 
     // if rate * spu exceeds the tick frequency, we are in trouble:
     for(uint8_t m = 0; m < SR_NUM_MOTORS; m ++){
-        if(actuators[m]->get_max_rate() * actuators[m]->get_steps_per_mm() > SR_TICK_FREQ){
-            sysError("motor " + String(m) + " exceeds max rate");
+        float maxTick = actuators[m]->get_max_rate() * actuators[m]->get_steps_per_mm();
+        if(maxTick > SR_TICK_FREQ){
+            sysError("motor " + String(m) + " exceeds max tick, " + String(maxTick));
+            // new rate should be old rate * rate / 
+            float newMax = actuators[m]->get_max_rate() * (SR_TICK_FREQ / maxTick);
+            sysError("old max velocity: " + String(actuators[m]->get_max_rate()) + " new: " + String(newMax));
+            actuators[m]->set_max_rate(newMax);
         }
     }
 }
\ No newline at end of file