From a642e4ca31d00d58ba349bede497dcfb52a4858c Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Tue, 11 Jan 2022 15:37:52 -0500
Subject: [PATCH] checks for exceptional rates
---
firmware/motion-head/src/smoothie/SmoothieRoll.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/firmware/motion-head/src/smoothie/SmoothieRoll.cpp b/firmware/motion-head/src/smoothie/SmoothieRoll.cpp
index 127de94..ad22631 100644
--- a/firmware/motion-head/src/smoothie/SmoothieRoll.cpp
+++ b/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
--
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