FIx max actuator speed checking in robot to exclude extruders

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index 2e67e66..a8f3da1 100644 (file)
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -399,6 +399,8 @@ Robot::wcs_t Robot::mcs2wcs(const Robot::wcs_t& pos) const
 void Robot::check_max_actuator_speeds()
 {
     for (size_t i = 0; i < n_motors; i++) {
+        if(actuators[i]->is_extruder()) continue; //extruders are not included in this check
+
         float step_freq = actuators[i]->get_max_rate() * actuators[i]->get_steps_per_mm();
         if (step_freq > THEKERNEL->base_stepping_frequency) {
             actuators[i]->set_max_rate(floorf(THEKERNEL->base_stepping_frequency / actuators[i]->get_steps_per_mm()));