reset position after test raw.

[clinton/Smoothieware.git] / src / libs / StepperMotor.cpp

diff --git a/src/libs/StepperMotor.cpp b/src/libs/StepperMotor.cpp
index f257d77..236ce25 100644 (file)
--- a/src/libs/StepperMotor.cpp
+++ b/src/libs/StepperMotor.cpp
@@ -28,6 +28,8 @@ StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_p
     acceleration= NAN;
     selected= true;
 
+    this->set_direction(false);
+
     this->register_for_event(ON_HALT);
     this->register_for_event(ON_ENABLE);
 }
@@ -72,13 +74,21 @@ void StepperMotor::set_last_milestones(float mm, int32_t steps)
     current_position_steps= last_milestone_steps;
 }
 
-int  StepperMotor::steps_to_target(float target)
+void StepperMotor::update_last_milestones(float mm, int32_t steps)
+{
+    last_milestone_steps += steps;
+    last_milestone_mm = mm;
+}
+
+int32_t StepperMotor::steps_to_target(float target)
 {
     int32_t target_steps = lroundf(target * steps_per_mm);
     return target_steps - last_milestone_steps;
 }
 
 // Does a manual step pulse, used for direct encoder control of a stepper
+// NOTE this is experimental and may change and/or be reomved in the future, it is an unsupported feature.
+// use at your own risk
 void StepperMotor::manual_step(bool dir)
 {
     if(!is_enabled()) enable(true);