From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Tue, 19 Dec 2017 22:51:15 +0000 (-0800)
Subject: Don't compute steps for disabled axes
X-Git-Url: https://git.buildbotics.com/?a=commitdiff_plain;h=db93c99671973fed279cf9c4cbec4754e633f636;p=bbctrl-firmware

Don't compute steps for disabled axes
---

diff --git a/src/avr/src/plan/planner.c b/src/avr/src/plan/planner.c
index d8da7d9..bf3af97 100644
--- a/src/avr/src/plan/planner.c
+++ b/src/avr/src/plan/planner.c
@@ -118,8 +118,10 @@ void mp_kinematics(const float travel[], float steps[]) {
   // steps_per_unit() which takes axis travel, step angle and microsteps into
   // account.
   for (int motor = 0; motor < MOTORS; motor++)
-    steps[motor] =
-      travel[motor_get_axis(motor)] * motor_get_steps_per_unit(motor);
+    if (motor_is_enabled(motor))
+      steps[motor] =
+        travel[motor_get_axis(motor)] * motor_get_steps_per_unit(motor);
+    else steps[motor] = 0;
 }