pbio/control: Use measured position for hold after run_time.

Under load, the reference angle can be far ahead of the measured angle. If we try to hold that (unreachable) angle, the run_time command never completes.

Fixes: pybricks/support#903

Author: laurensvalk

CHANGELOG.md

@@ -6,8 +6,10 @@
 
 ### Fixed
 - Fixed some objects do not implement `__hash__` ([support#876]).
+- Fixed `Motor.run_time` not completing under load ([support#903]).
 
 [support#876]: https://github.com/pybricks/support/issues/876
+[support#903]: https://github.com/pybricks/support/issues/903
 
 ## [3.2.1] - 2022-12-26
 

lib/pbio/src/control.c

@@ -223,7 +223,7 @@ void pbio_control_update(pbio_control_t *ctl, uint32_t time_now, pbio_control_st
                 // a stationary endpoint, convert it to a stationary angle
                 // based command and hold it.
                 if (pbio_control_type_is_time(ctl) && ref_end.speed == 0) {
-                    int32_t target = pbio_control_settings_ctl_to_app_long(&ctl->settings, &ref->position);
+                    int32_t target = pbio_control_settings_ctl_to_app_long(&ctl->settings, &state->position);
                     pbio_control_start_position_control_hold(ctl, time_now, target);
                 }
                 break;