Fix comment

controller/block/block_setpoint_generator.c

@@ -99,6 +99,8 @@ struct controller_block_private {
 	float freq;	/* ticks per second */
 	float freq2;
 	float freq3;
+	double t_max_a;
+	double v_delta_from_max_a;
 
 	/* parameters in real world format (time unit: second) */
 	float max_v_sec;
@@ -160,8 +162,8 @@ static double ticks_to_v(struct controller_block_private *priv,
 	double t;
 	
 	/* 	From a constant speed to a constant speed is done in two halves:
-		First halve (untill half the speed difference is reached is done
-		at max jerk, second half is done at -max jerk.
+		First halve (untill half the speed difference is reached) is 
+		done at max jerk, second half is done at -max jerk.
 		
 		1/2 v = 1/2 j t^2   ->   v = j t^2   ->  t = sqrt(v/j) 
 		
@@ -363,10 +365,8 @@ static void setpoint_generator_calculate(struct controller_block *spg)
 			j_from_pos = 0;
 		}
 		
-		
-		/* Calculate delta v when comming from max_a */
-		t_max_a = ticks_to_a(priv, 0, priv->max_a);
-		v_delta_from_max_a = v_after_ticks(priv, 0, 0, priv->max_j, t_max_a);
+		t_max_a = priv->t_max_a;
+		v_delta_from_max_a = priv->v_delta_from_max_a;
 
 		j = copysign(priv->max_j, error_v);
 			
@@ -596,7 +596,7 @@ static void setpoint_generator_calculate(struct controller_block *spg)
 			
 				double v_start_3, t_2;
 			
-				t = ticks_to_a(priv, 0, priv->max_a);
+				t = t_max_a;
 			
 				x = x_after_ticks(priv, x, v, a, j, t);
 				v = v_after_ticks(priv, v, a, j, t);
@@ -855,6 +855,8 @@ static void param_get(struct controller_block *spg, int param, void *val)
 
 static void param_set(struct controller_block *spg, int param, va_list val)
 {
+	double t_max_a;
+	
 	switch (param) {
 		case 0:
 			spg->private->cmd_x = va_arg(val, double);
@@ -907,6 +909,12 @@ static void param_set(struct controller_block *spg, int param, va_list val)
 	spg->private->freq3 = spg->private->freq2 * spg->private->freq;
 	spg->private->inv_max_j = 1.0 / spg->private->max_j;
 	spg->private->inv_max_a = 1.0 / spg->private->max_a;
+
+	/* Calculate delta v when comming from max_a */
+	t_max_a = ticks_to_a(spg->private, 0, spg->private->max_a);
+	spg->private->v_delta_from_max_a = 
+	    v_after_ticks(spg->private, 0, 0, spg->private->max_j, t_max_a);
+	spg->private->t_max_a = t_max_a;
 }
 
 static struct controller_block_interm_list interms[] = {