fix(stacker): motor movement profile step detection #499
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sfoster1
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This PR adds a test for the movement profile used in the Flex Stacker and fixes a motion bug.
I found a delay in motion control; when the motor speed is set to take exactly one step each time the motor timer ticks, the first tick wouldn't cause a step. It's because the bitwise comparison doesn't work very well while we're at the step boundary.
By setting the step flag to
(static_cast<uint64_t>(1) << radix) - 1;, we can make sure we're taking a step right when it happens.The longer I look at this math, the more confused I get. So apologies in advance if none of this makes sense.