gistfile1.txt

    // this is the time it should take to execute this cartesian move, it is approximate
    // as it does not take into account accel/decel
    float secs = distance / rate_mm_s;

    // check per-actuator speed limits by looking at the minimum time each axis can move its specified amount
    // this is regardless of wether it is mm/sec or deg/sec for a rotary axis
    for (size_t actuator = 0; actuator < n_motors; actuator++) {
        // actual distance moved for this actuator
        // NOTE for a rotary axis this will be degrees turned not distance
        float d = fabsf(actuator_pos[actuator] - actuators[actuator]->get_last_milestone());
        if(d == 0 || !actuators[actuator]->is_selected()) continue; // no movement for this actuator

        // find approximate min time this axis needs to move its distance
        float actuator_min_time= d / actuators[actuator]->get_max_rate();
        if (secs < actuator_min_time ) {
            // this move at the default rate will move too quickly for this actuator
            // so we decrease the overall feed rate so it can complete within the min time for this actuator
            rate_mm_s= distance / actuator_min_time;
            // recalculate time from new rate
            secs = distance / rate_mm_s;
        }