From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Mon, 19 Sep 2016 04:22:01 +0000 (-0700)
Subject: Fixed jog reverse direction
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=8f558224683f924a336dbd9a9d3fe52dbfd1988f;p=bbctrl-firmware

Fixed jog reverse direction
---

diff --git a/src/plan/jog.c b/src/plan/jog.c
index f700c46..ed17675 100644
--- a/src/plan/jog.c
+++ b/src/plan/jog.c
@@ -64,14 +64,17 @@ static jog_runtime_t jr;
 static stat_t _exec_jog(mp_buffer_t *bf) {
   // Load next velocity
   bool changed = false;
+  bool done = true;
   if (!jr.writing)
     for (int axis = 0; axis < AXES; axis++) {
       float Vn = jr.next_velocity[axis] * axes[axis].velocity_max;
       float Vi = jr.velocity[axis];
       float Vt = jr.target_velocity[axis];
 
+      if (JOG_MIN_VELOCITY < fabs(Vn)) done = false;
+
       if (!fp_ZERO(Vi) && (Vn < 0) != (Vi < 0))
-        Vn = 0; // Go zero on sign change
+        Vn = 0; // Plan to zero on sign change
 
       if (fabs(Vn) < JOG_MIN_VELOCITY) Vn = 0;
 
@@ -82,7 +85,6 @@ static stat_t _exec_jog(mp_buffer_t *bf) {
       }
     }
 
-  bool done = true;
   float velocity_sqr = 0;
 
   for (int axis = 0; axis < AXES; axis++) {