modified planner modes and added new mode

uCNC/cnc_config.h

@@ -290,16 +290,23 @@ extern "C"
 	 * This will make the planner not perform the forward pass to adjust entry speeds.
 	 * The adjustment of the next planner block is made on the fly when the block is loaded.
 	 * */
-	// #define ENABLE_PLANNER_SPEED_OVERSHOOT
+	//  #define ENABLE_PLANNER_SPEED_OVERSHOOT
+
+	/**
+	 * By enabling this option the planner will junction speed based on accel only if need
+	 * meaning that the junction speed will only be the maximum value between current and exit speed
+	 * This will eliminate ramp up and down completly and over-simplify calculations
+	 * */
+	// #define ENABLE_PLANNER_ACCEL_NONOPTIMAL
 
 	/**
 	 * By enabling this option the planner will only perform acceleration if the exit speed is higher
-	 * then the current speed and the distance travelled is lower then a give threshold
+	 * then the current speed and the distance travelled is lower then a give threshold (in steps)
 	 * This will prevent sucessive ramp up and down speed profiles a produce more continuous speed motions
 	 * */
 	// #define ENABLE_PLANNER_NOACCEL_ON_SLOWER_EXIT
 	#ifdef ENABLE_PLANNER_NOACCEL_ON_SLOWER_EXIT
-	#define ENABLE_PLANNER_NOACCEL_MAX_SETP_DISTANCE 5
+	#define ENABLE_PLANNER_NOACCEL_MAX_STEP_DISTANCE 200
 	#endif
 
 	/**

uCNC/src/core/interpolator.c

@@ -741,6 +741,9 @@ void itp_run(void)
 				float accel_dist = ABS(junction_speed_sqr - itp_cur_plan_block->entry_feed_sqr) / itp_cur_plan_block->acceleration;
 				accel_dist = fast_flt_div2(accel_dist);
 				accel_until -= floorf(accel_dist);
+#ifdef ENABLE_PLANNER_ACCEL_NONOPTIMAL
+				accel_until = MIN(accel_until, remaining_steps);
+#endif
 				initial_accel_negative = (junction_speed_sqr < itp_cur_plan_block->entry_feed_sqr);
 			}
 
@@ -899,11 +902,12 @@ void itp_run(void)
 		}
 #endif
 		remaining_steps -= segm_steps;
-
+#ifndef ENABLE_PLANNER_ACCEL_NONOPTIMAL
 		if (remaining_steps == accel_until) // resets float additions error
 		{
 			itp_cur_plan_block->entry_feed_sqr = junction_speed_sqr;
 		}
+#endif
 
 		itp_cur_plan_block->total_steps = remaining_steps;
 

uCNC/src/core/planner.c

@@ -426,6 +426,21 @@ float planner_get_block_top_speed(float exit_speed_sqr)
 
 	// calculates the difference between the entry speed and the exit speed
 	uint8_t index = planner_data_read;
+
+#ifdef ENABLE_PLANNER_ACCEL_NONOPTIMAL
+	// just computes half way accel
+	float junction_speed_sqr = planner_data[index].acceleration * (float)(planner_data[index].total_steps);
+	if (planner_data[index].entry_feed_sqr > exit_speed_sqr)
+	{
+		junction_speed_sqr += exit_speed_sqr;
+	}
+	else
+	{
+		junction_speed_sqr += planner_data[index].entry_feed_sqr;
+		junction_speed_sqr = MAX(junction_speed_sqr, exit_speed_sqr);
+	}
+#else
+
 	float speed_delta = exit_speed_sqr - planner_data[index].entry_feed_sqr;
 
 #ifdef ENABLE_PLANNER_NOACCEL_ON_SLOWER_EXIT
@@ -434,7 +449,7 @@ float planner_get_block_top_speed(float exit_speed_sqr)
 	{
 		uint8_t i = planner_data[index].main_stepper;
 		// is short distance?
-		if (planner_data[index].total_steps < (planner_data[index].steps[i] * g_settings.step_per_mm[i]))
+		if (ENABLE_PLANNER_NOACCEL_MAX_STEP_DISTANCE > planner_data[index].steps[i])
 		{
 			// keep speed (avoid accel on short motion that will have to deaccel after)
 			return planner_data[index].entry_feed_sqr;
@@ -461,6 +476,7 @@ float planner_get_block_top_speed(float exit_speed_sqr)
 		// will overshoot the desired exit speed even deaccelerating all the way
 		junction_speed_sqr = planner_data[index].entry_feed_sqr;
 	}
+#endif
 
 	float rapid_feed_sqr = planner_data[index].rapid_feed_sqr;
 	float target_speed_sqr = planner_data[index].feed_sqr;