From db93c99671973fed279cf9c4cbec4754e633f636 Mon Sep 17 00:00:00 2001 From: Joseph Coffland Date: Tue, 19 Dec 2017 14:51:15 -0800 Subject: [PATCH] Don't compute steps for disabled axes --- src/avr/src/plan/planner.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) 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; } -- 2.27.0