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step callback needs to increment input_pos, not pos_setpoint

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Paul Guenette
2019-05-26 19:52:46 +02:00
parent 5242ca9a34
commit 0d6be2869b
1 changed files with 1 additions and 1 deletions
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Firmware/MotorControl/axis.cpp
+1 -1
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@@ -79,7 +79,7 @@ void Axis::step_cb() {
if (step_dir_active_) {
GPIO_PinState dir_pin = HAL_GPIO_ReadPin(dir_port_, dir_pin_);
float dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
controller_.pos_setpoint_ += dir * config_.counts_per_step;
controller_.input_pos_ += dir * config_.counts_per_step;
}
};