setting max to 0 will set planner to 0, having max_jerk to 0 should not be allowed

Author: Luca Toniolo

src/emc/ini/inihal.cc

@@ -296,16 +296,28 @@ int check_ini_hal_items(int numjoints)
                 rcs_print("check_ini_hal_items:bad return value from emcTrajSetJerk\n");
             }
         }
+        // Force planner type 0 if max_jerk < 1 (S-curve needs valid jerk)
+        if (NEW(traj_max_jerk) < 1.0) {
+            if (0 != emcTrajPlannerType(0)) {
+                if (emc_debug & EMC_DEBUG_CONFIG) {
+                    rcs_print("check_ini_hal_items:bad return value from emcTrajPlannerType\n");
+                }
+            }
+        }
     }
 
     if (CHANGED(traj_planner_type)) {
         if (debug) SHOW_CHANGE_INT(traj_planner_type)
         UPDATE(traj_planner_type);
         // Only 0 and 1 are supported, set to 0 if invalid
+        // Also force planner type 0 if max_jerk < 1 (S-curve needs valid jerk)
         int planner_type = NEW(traj_planner_type);
         if (planner_type != 0 && planner_type != 1) {
             planner_type = 0;
         }
+        if (planner_type == 1 && NEW(traj_max_jerk) < 1.0) {
+            planner_type = 0;
+        }
         if (0 != emcTrajPlannerType(planner_type)) {
             if (emc_debug & EMC_DEBUG_CONFIG) {
                 rcs_print("check_ini_hal_items:bad return value from emcTrajPlannerType\n");

src/emc/ini/initraj.cc

@@ -223,9 +223,13 @@ static int loadTraj(EmcIniFile *trajInifile)
         planner_type = 0;  // Default: 0 = trapezoidal, 1 = S-curve
         trajInifile->Find(&planner_type, "PLANNER_TYPE", "TRAJ");
         // Only 0 and 1 are supported, set to 0 if invalid
+        // Also force planner type 0 if max_jerk < 1 (S-curve needs valid jerk)
         if (planner_type != 0 && planner_type != 1) {
             planner_type = 0;
         }
+        if (planner_type == 1 && jerk < 1.0) {
+            planner_type = 0;
+        }
         if (0 != emcTrajPlannerType(planner_type)) {
             if (emc_debug & EMC_DEBUG_CONFIG) {
                 rcs_print("bad return value from emcTrajPlannerType\n");