xenovacivus

The data is captured with a logic analyzer watching the step and direction pins. The position is incremented on step with dir=1 and decremented on step with dir=0. So we...

Also I don't have step smoothing defined. `//#define ADAPTIVE_STEP_SMOOTHING` Here's another example:  (Also good news - no steps are lost while changing direction) The jumps in velocity in this...

@johanmga, I've discovered the velocity jumps here come from using "classic jerk" computations, and happen whether or not s-curve acceleration is enabled. Try uncommenting `//#define JUNCTION_DEVIATION` in Configuration_adv.h; that will...

They're pretty interesting, actually! With the same configuration as the first post but JUNCTION_DEVIATION on and set to 0.02, I get this (S_CURVE_ACCELERATION on):  And here's the same...

Here's a bit more! I aligned the s-curve and trapezoidal profiles with the same time scale and used the ms-paint analytical tool to compare. It looks like the s-curve for...

@gururise: yep, this is a problem with s-curve acceleration which is not solved by enabling `JUNCTION_DEVIATION`. Classic jerk computations add another velocity spike (dependent on `MAX_JERK`) but this one is...

@ejtagle, good observation, accumulating into an integer (always with floor behavior) will result in a lower acceleration_time than should actually be supplied to the curve function. In the worst case...

I don't think there's been any update to the related code (if there is, I'd be happy to test it!).