Fixed a small error in our motor driver.

virtualabs · Sep 3, 2024 · 89e87e3 · 89e87e3
1 parent 2f0a647
commit 89e87e3
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/cutcutgo.X/src/hal/motor.c b/cutcutgo.X/src/hal/motor.c
@@ -624,15 +624,21 @@ int hal_motor_step(hal_motor_driver_t *motor, int steps, hal_motor_direction_t d
         break;
 
         case HAL_MOTOR_DIR_CW:
-        {
+        {      
             offset = motor->rel_pos_th - motor->rel_pos;            
         }
         break;
 
         default:
             break;
     }
-
+
+    /* Do not exceed an extra step. */
+    if (offset > 8)
+    {
+        offset = 8;
+    }
+
     motor->command_steps = 8 + offset;
     motor->current_steps = 0;
     motor->error_steps = 0;