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Fix step_cb per @PAJohnson

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2020-07-27 18:20:14 -04:00
parent 88b3ed4260
commit 7d94b6c786
1 changed files with 2 additions and 2 deletions
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Firmware/MotorControl/axis.cpp
+2 -2
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@@ -118,8 +118,8 @@ bool Axis::wait_for_current_meas() {
// step/direction interface
void Axis::step_cb() {
const GPIO_PinState dir_pin = (GPIO_PinState)(dir_port_->IDR & dir_pin_);
const int32_t dir = (1 - 2 * (int32_t)dir_pin) * step_dir_active_;
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_.counts_per_step;
controller_.input_pos_updated();
};