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fix incorrect step_cb

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Oskar Weigl committed 2020-08-05 11:54:39 -07:00
1 parent 0d018fc710
commit 677133d85b
1 file changed
+6 -4
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Firmware/MotorControl/axis.cpp
+6 -4
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@@ -118,10 +118,12 @@ bool Axis::wait_for_current_meas() {
// step/direction interface
void Axis::step_cb() {
const bool dir_pin = dir_port_->IDR & dir_pin_;
const int32_t dir = (-1 + 2 * dir_pin) * step_dir_active_;
controller_.input_pos_ += dir * config_.turns_per_step;
controller_.input_pos_updated();
if (step_dir_active_) {
const bool dir_pin = (dir_port_->IDR & dir_pin_);
const float dir = dir_pin ? 1.0f : -1.0f;
controller_.input_pos_ += dir * config_.turns_per_step;
controller_.input_pos_updated();
}
};
void Axis::load_default_step_dir_pin_config(