From: Michael Moon <triffid.hunter@gmail.com>
Date: Fri, 24 Jan 2014 07:27:03 +0000 (+1100)
Subject: Robot: convert cartesian speed limits to mm/s
X-Git-Url: http://git.hcoop.net/clinton/Smoothieware.git/commitdiff_plain/c9ed779d7a73bd04289273ef77b653f34a95786d

Robot: convert cartesian speed limits to mm/s
---

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index 2fc75186..088e7432 100644
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -146,9 +146,9 @@ void Robot::on_config_reload(void* argument){
     this->mm_per_arc_segment  = THEKERNEL->config->value(mm_per_arc_segment_checksum  )->by_default(    0.5f)->as_number();
     this->arc_correction      = THEKERNEL->config->value(arc_correction_checksum      )->by_default(    5   )->as_number();
 
-    this->max_speeds[X_AXIS]  = THEKERNEL->config->value(x_axis_max_speed_checksum    )->by_default(60000.0F)->as_number();
-    this->max_speeds[Y_AXIS]  = THEKERNEL->config->value(y_axis_max_speed_checksum    )->by_default(60000.0F)->as_number();
-    this->max_speeds[Z_AXIS]  = THEKERNEL->config->value(z_axis_max_speed_checksum    )->by_default(  300.0F)->as_number();
+    this->max_speeds[X_AXIS]  = THEKERNEL->config->value(x_axis_max_speed_checksum    )->by_default(60000.0F)->as_number() / 60.0F;
+    this->max_speeds[Y_AXIS]  = THEKERNEL->config->value(y_axis_max_speed_checksum    )->by_default(60000.0F)->as_number() / 60.0F;
+    this->max_speeds[Z_AXIS]  = THEKERNEL->config->value(z_axis_max_speed_checksum    )->by_default(  300.0F)->as_number() / 60.0F;
 
     Pin alpha_step_pin;
     Pin alpha_dir_pin;