From aebaca5cdc35c129c9e41acb3a8f08ef483ba3f8 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Mon, 3 Aug 2020 18:48:53 +0200 Subject: [PATCH] Correct comments regarding acceleration ramp Backport fixes from upstream Marlin --- Firmware/stepper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 848cd3c66..ef57ec0db 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -233,7 +233,7 @@ void invert_z_endstop(bool endstop_invert) // The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates // first block->accelerate_until step_events_completed, then keeps going at constant speed until // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. -// The slope of acceleration is calculated with the leib ramp alghorithm. +// The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse. // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.