From 89e87e3e598a565d28bcc43d092f546183613e7c Mon Sep 17 00:00:00 2001
From: virtualabs <virtualabs@gmail.com>
Date: Wed, 4 Sep 2024 00:39:26 +0200
Subject: [PATCH] Fixed a small error in our motor driver.

---
 cutcutgo.X/src/hal/motor.c | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/cutcutgo.X/src/hal/motor.c b/cutcutgo.X/src/hal/motor.c
index f4c4020..2d2c07e 100644
--- a/cutcutgo.X/src/hal/motor.c
+++ b/cutcutgo.X/src/hal/motor.c
@@ -624,7 +624,7 @@ 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;
@@ -632,7 +632,13 @@ int hal_motor_step(hal_motor_driver_t *motor, int steps, hal_motor_direction_t d
         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;