From cbf8bf908ae7758129a3516c7a3ad9ec2a58edce Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Wed, 21 Jun 2023 20:15:16 +0200
Subject: [PATCH] [Stepper][StepperPWM] Moving stepper only if enabled
---
src/shared/actuators/stepper/Stepper.cpp | 2 +-
src/shared/actuators/stepper/StepperPWM.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/shared/actuators/stepper/Stepper.cpp b/src/shared/actuators/stepper/Stepper.cpp
index a39622273..d76f6dfeb 100644
--- a/src/shared/actuators/stepper/Stepper.cpp
+++ b/src/shared/actuators/stepper/Stepper.cpp
@@ -113,7 +113,7 @@ void Stepper::setDirection()
void Stepper::move(int16_t steps)
{
- if (speed == 0)
+ if (!enabled || speed == 0 || steps == 0)
return;
unsigned int halfStepDelay = 1e6 / (speed * 360 / stepAngle * microStep);
diff --git a/src/shared/actuators/stepper/StepperPWM.cpp b/src/shared/actuators/stepper/StepperPWM.cpp
index e9eccf5ff..4f04532df 100644
--- a/src/shared/actuators/stepper/StepperPWM.cpp
+++ b/src/shared/actuators/stepper/StepperPWM.cpp
@@ -62,7 +62,7 @@ void StepperPWM::setMicroStepping(uint16_t microStep)
void StepperPWM::move(int16_t steps)
{
- if (speed == 0 || steps == 0)
+ if (!enabled || speed == 0 || steps == 0)
return;
// First update currentPositionDeg. This method corrects the initial
--
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