bugfix in moveTimed for the case of multiple steps per command

Author: gin66

examples/MoveTimed/MoveTimed.ino

@@ -31,7 +31,7 @@ struct control_s controlY = {
 
 // This means, the circle is executed in 360*4ms = 1440ms
 #ifndef TIMESTEP_TICKS
-#define TIMESTEP_TICKS (TICKS_PER_S/4000)
+#define TIMESTEP_TICKS (TICKS_PER_S/250)
 #endif
 
 // Table generated by python:
@@ -40,6 +40,8 @@ int16_t steps[91] = { 0, 27, 55, 83, 111, 139, 167, 194, 222, 250, 277, 305, 332
 };
 
 void setup() {
+  Serial.begin(115200);
+  Serial.println("Init");
   engine.init();
   stepperX = engine.stepperConnectToPin(stepPinStepperX);
   stepperY = engine.stepperConnectToPin(stepPinStepperY);
@@ -49,9 +51,9 @@ void setup() {
     }
   }
   stepperX->setDirectionPin(dirPinStepperX);
-  stepperX->setEnablePin(enablePinStepperY);
+  stepperX->setEnablePin(enablePinStepperX);
   stepperX->setAutoEnable(false);
-  stepperY->setDirectionPin(dirPinStepperX);
+  stepperY->setDirectionPin(dirPinStepperY);
   stepperY->setEnablePin(enablePinStepperY);
   stepperY->setAutoEnable(false);
 
@@ -105,22 +107,44 @@ void moveStepper(FastAccelStepper *stepper, struct control_s *control) {
    rc = stepper->moveTimed(steps,duration,&actual,true);
    switch(rc) {
      case MOVE_TIMED_EMPTY:
-         Serial.println("Empty");
+         Serial.print("Empty:");
+         Serial.println(stepper->getStepPin() == dirPinStepperX ? 'X':'Y');
          /* fallthrough */
      case MOVE_TIMED_OK:
          control->drift = duration-actual;
          control->time += actual;
          control->phi += 1;
          break;
      case MOVE_TIMED_BUSY:
+         //Serial.println("Busy");
          break;
      case MOVE_TIMED_TOO_LARGE_ERROR:
          Serial.println("Too large");
          break;
+     case AQE_ERROR_TICKS_TOO_LOW:
+         Serial.print("Ticks too low:");
+         Serial.print(duration/steps);
+         Serial.print(" steps:");
+         Serial.println(steps);
+     default:
+         Serial.println(rc);
    }
 }
 
+uint32_t last_millis = 0;
+
 void loop() {
+  if (last_millis != millis()) {
+    Serial.print(uint32_t(controlX.time));
+    Serial.print(' ');
+    Serial.print(uint32_t(controlY.time));
+    Serial.print(' ');
+    Serial.print(stepperX->getPositionAfterCommandsCompleted());
+    Serial.print(' ');
+    Serial.println(millis());
+    last_millis = millis();
+  }
+
   if (controlX.time < controlY.time) {
     moveStepper(stepperX, &controlX);
   }

src/FastAccelStepper.cpp

@@ -1053,7 +1053,9 @@ int8_t FastAccelStepper::moveTimed(int16_t steps, uint32_t duration,
     uint32_t cmd_duration = cmd.ticks;
     cmd_duration *= cmd.steps;
     if (actual_duration) {
-       *actual_duration += cmd.ticks;
+       uint32_t d = cmd.ticks;
+       d *= steps;
+       *actual_duration += d;
     }
     steps -= cmd.steps;
   }