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Fix mp_set_steps_to_runtime_position to use internal encoder position

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Rob Giseburt
2019-10-16 23:29:59 -05:00
parent 5d89f6914d
commit a5e0b027c1
1 changed files with 4 additions and 2 deletions
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6
g2core/planner.cpp
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@@ -267,12 +267,14 @@ void mp_set_steps_to_runtime_position()
float step_position[MOTORS];
// There use to be a call to kn_inverse_kinematics here, but we don't do that now, instead we call kn->sync_encoders()
// after handling the steps, allowing the kinematics to intelligently handle the offset of step and position.
// Reset everything to match the internal encoders
for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {
mr->encoder_steps[motor] = en_read_encoder(motor);
step_position[motor] = mr->encoder_steps[motor];
mr->target_steps[motor] = step_position[motor];
mr->position_steps[motor] = step_position[motor];
mr->commanded_steps[motor] = step_position[motor];
en_set_encoder_steps(motor, step_position[motor]); // write steps to encoder register
mr->encoder_steps[motor] = en_read_encoder(motor);
// These must be zero:
mr->following_error[motor] = 0;