Stepper,Block,Planner: whitespace changes, comment tweaks, a few things rearranged.

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

diff --git a/src/modules/robot/Block.cpp b/src/modules/robot/Block.cpp
index 7d6f34b..ade2d35 100644 (file)
--- a/src/modules/robot/Block.cpp
+++ b/src/modules/robot/Block.cpp
@@ -38,22 +38,26 @@ void Block::clear()
     clear_vector(this->steps);
 
     steps_event_count   = 0;
+    accelerate_until    = 0;
+    decelerate_after    = 0;
+
+    initial_rate        = -1;
     nominal_rate        = 0;
+    final_rate          = -1;
+
     nominal_speed       = 0.0F;
     millimeters         = 0.0F;
     entry_speed         = 0.0F;
     exit_speed          = 0.0F;
     rate_delta          = 0.0F;
-    initial_rate        = -1;
-    final_rate          = -1;
-    accelerate_until    = 0;
-    decelerate_after    = 0;
+    max_entry_speed     = 0.0F;
+
+    times_taken         = 0;
     direction_bits      = 0;
     recalculate_flag    = false;
     nominal_length_flag = false;
-    max_entry_speed     = 0.0F;
     is_ready            = false;
-    times_taken         = 0;
+    finish_early        = false;
 }
 
 void Block::debug()
@@ -97,7 +101,7 @@ void Block::calculate_trapezoid( float entryspeed, float exitspeed )
     if (times_taken)
         return;
 
-    // The planner passes us factors, we need to transform them in rates
+    // The planner passes us speeds in mm/s, we need to transform them to rates in steps/s
     this->initial_rate = ceil(this->nominal_rate * entryspeed / this->nominal_speed);   // (step/s)
     this->final_rate   = ceil(this->nominal_rate * exitspeed  / this->nominal_speed);   // (step/s)