From 2e3a727bb9e3bfd7a6fd99883dd6fd7dff9ace53 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Mon, 4 Jul 2022 11:55:47 -0400
Subject: [PATCH] corrects inter-segment delta loss
---
firmware/axl-stepper/src/axl | 2 +-
firmware/axl-stepper/src/main.cpp | 3 ++-
firmware/axl-stepper/src/osape | 2 +-
3 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl
index 911cba7..0aa4198 160000
--- a/firmware/axl-stepper/src/axl
+++ b/firmware/axl-stepper/src/axl
@@ -1 +1 @@
-Subproject commit 911cba7c18d0d232ad7e04856c55e99027b3e9f8
+Subproject commit 0aa41982be0a8ec1189ec6e4517e4f1c2b6774cb
diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index 5e5943a..49ebd11 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -62,9 +62,10 @@ EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
Endpoint statesEP(&osap, "states", onStateData);
void updateStatesEP(void){
- uint8_t numBytes = AXL_NUM_DOF * 4 * 3 + 1;
+ uint8_t numBytes = AXL_NUM_DOF * 4 * 3 + 2;
uint8_t stash[numBytes]; uint16_t wptr = 0;
stash[wptr ++] = axl_getMode();
+ axl_isMoving() ? stash[wptr ++] = 1 : stash[wptr ++] = 0;
dofs temp = axl_getPositions();
for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
ts_writeFloat32(temp.axis[a], stash, &wptr);
diff --git a/firmware/axl-stepper/src/osape b/firmware/axl-stepper/src/osape
index 4f5c37e..bc18a89 160000
--- a/firmware/axl-stepper/src/osape
+++ b/firmware/axl-stepper/src/osape
@@ -1 +1 @@
-Subproject commit 4f5c37e60669b7357b29cba0b842014cdda23161
+Subproject commit bc18a89d155622fd8ab959773c0eb967cedd9383
--
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