remove the minimum stepper rate as it is no longer used

diff --git a/src/libs/StepperMotor.cpp b/src/libs/StepperMotor.cpp
index 666c966..fa70732 100644 (file)
--- a/src/libs/StepperMotor.cpp
+++ b/src/libs/StepperMotor.cpp
@@ -13,9 +13,6 @@
 #include <math.h>
 #include "mbed.h"
 
-// in steps/sec the default minimum speed (was 20steps/sec hardcoded)
-float StepperMotor::default_minimum_actuator_rate= 20.0F;
-
 StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_pin(dir), en_pin(en)
 {
     set_high_on_debug(en.port_number, en.pin);

diff --git a/src/libs/StepperMotor.h b/src/libs/StepperMotor.h
index a9747f1..c995988 100644 (file)
--- a/src/libs/StepperMotor.h
+++ b/src/libs/StepperMotor.h
@@ -60,7 +60,6 @@ class StepperMotor  : public Module {
         float steps_per_second;
         float steps_per_mm;
         float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder
-        static float default_minimum_actuator_rate;
 
         volatile int32_t current_position_steps;
         int32_t last_milestone_steps;

diff --git a/src/modules/robot/Planner.cpp b/src/modules/robot/Planner.cpp
index ad30a89..77ae7bc 100644 (file)
--- a/src/modules/robot/Planner.cpp
+++ b/src/modules/robot/Planner.cpp
@@ -97,7 +97,6 @@ void Planner::append_block( ActuatorCoordinates &actuator_pos, float rate_mm_s,
     block->millimeters = distance;
 
     // Calculate speed in mm/sec for each axis. No divide by zero due to previous checks.
-    // NOTE: Minimum stepper speed is limited by MINIMUM_STEPS_PER_MINUTE in stepper.c
     if( distance > 0.0F ) {
         block->nominal_speed = rate_mm_s;           // (mm/s) Always > 0
         block->nominal_rate = block->steps_event_count * rate_mm_s / distance; // (step/s) Always > 0

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index 9177f06..90c49da 100644 (file)
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -568,9 +568,6 @@ void Robot::on_gcode_received(void *argument)
                         mps = 0.0F;
                     THEKERNEL->planner->minimum_planner_speed = mps;
                 }
-                if (gcode->has_letter('Y')) {
-                    actuators[0]->default_minimum_actuator_rate = gcode->get_value('Y');
-                }
                 break;
 
             case 220: // M220 - speed override percentage