cleanup a bunch of fields that should be private

[clinton/Smoothieware.git] / src / modules / robot / Planner.cpp

diff --git a/src/modules/robot/Planner.cpp b/src/modules/robot/Planner.cpp
index 0d82874..30cbce6 100644 (file)
--- a/src/modules/robot/Planner.cpp
+++ b/src/modules/robot/Planner.cpp
@@ -97,7 +97,7 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc
     // To generate trapezoids with contant acceleration between blocks the rate_delta must be computed
     // specifically for each line to compensate for this phenomenon:
     // Convert universal acceleration for direction-dependent stepper rate change parameter
-    block->rate_delta = (block->steps_event_count * acceleration) / (distance * THEKERNEL->stepper->acceleration_ticks_per_second); // (step/min/acceleration_tick)
+    block->rate_delta = (block->steps_event_count * acceleration) / (distance * THEKERNEL->stepper->get_acceleration_ticks_per_second()); // (step/min/acceleration_tick)
 
     // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
     // Let a circle be tangent to both previous and current path line segments, where the junction
@@ -110,7 +110,7 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc
     // nonlinearities of both the junction angle and junction velocity.
     float vmax_junction = minimum_planner_speed; // Set default max junction speed
 
-    if (!THEKERNEL->conveyor->queue.is_empty())
+    if (!THEKERNEL->conveyor->is_queue_empty())
     {
         float previous_nominal_speed = THEKERNEL->conveyor->queue.item_ref(THEKERNEL->conveyor->queue.prev(THEKERNEL->conveyor->queue.head_i))->nominal_speed;