From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sun, 22 Jan 2017 03:38:39 +0000 (-0800)
Subject: Fixed motor reverse config
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=1a0783973211622edcf21a59676954ef656fbe3f;p=bbctrl-firmware

Fixed motor reverse config
---

diff --git a/avr/src/motor.c b/avr/src/motor.c
index 69a9de4..44789a1 100644
--- a/avr/src/motor.c
+++ b/avr/src/motor.c
@@ -455,8 +455,8 @@ stat_t motor_prep_move(int motor, int32_t clocks, float target, int32_t error,
 
   // Setup the direction, compensating for polarity.
   m->negative = travel < 0;
-  if (m->negative) m->direction = DIRECTION_CCW ^ m->reverse;
-  else m->direction = DIRECTION_CW ^ m->reverse;
+  if (m->negative ^ m->reverse) m->direction = DIRECTION_CCW;
+  else m->direction = DIRECTION_CW;
 
   // Find the clock rate that will fit the required number of steps
   if (ticks_per_step <= 0xffff) m->timer_clock = TC_CLKSEL_DIV1_gc;