Hi, what is the purpose of "smaller_speed_factor "? in planner.c. This factor, only resize the previous speeds when the nominal_speed is smaller than previous_nominal_speed, that is, slowing down. Here there is the code:
vmax_junction = _MIN(nominal_speed, previous_nominal_speed);
// Now limit the jerk in all axes.
const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
LOOP_XYZE(axis)
{
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
float v_exit = previous_speed[axis] * smaller_speed_factor,
v_entry = current_speed[axis];
Thanks!