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Fix seconds -> ms conversion error

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2018-09-08 19:03:09 -04:00
parent f7f2452973
commit 8b7ac1bab2
1 changed files with 4 additions and 4 deletions
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Firmware/MotorControl/endstop.cpp
+4 -4
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@@ -12,11 +12,11 @@ static void endstop_cb_wrapper(void* ctx){
void Endstop::update() {
if (config_.enabled) {
float now = axis_->loop_counter_ * current_meas_period;
if((now - debounce_timer_) >= config_.debounce_ms) { // Debounce timer expired, take the new pin state
endstop_state_ = config_.is_active_high ? pin_state_ : !pin_state_; // endstop_state is the logical state
debounce_timer_ = now - config_.debounce_ms; // Ensure timer doesn't have overflow issues
if ((now - debounce_timer_) >= (config_.debounce_ms * 0.001)) { // Debounce timer expired, take the new pin state
endstop_state_ = config_.is_active_high ? pin_state_ : !pin_state_; // endstop_state is the logical state
debounce_timer_ = now - (config_.debounce_ms * 0.001); // Ensure timer doesn't have overflow issues
} else {
endstop_state_ = endstop_state_; // Do nothing
endstop_state_ = endstop_state_; // Do nothing
}
} else {
endstop_state_ = false;