Sebastian,
I was poking around in the code, looking for anything suspicious as far as how position-scale is used. I see the following in stepgen.c:
float min_ns_per_step = s->hal.param.steplen + s->hal.param.stepspace;
float max_steps_per_s = 1.0e9 / min_ns_per_step;
float max_pos_per_s = max_steps_per_s / s->hal.param.position_scale;
if (s->hal.param.maxvel > max_pos_per_s) {
s->hal.param.maxvel = max_pos_per_s;
}
On casual inspection, it does not look to me that hal.param.maxval is being set properly when hal.param.position_scale is negative. I also note that this problem did not arise until after maxvel support was added.
I don't know how this would result in the problem I am seeing, it just looks suspicious.
Regards,
Eric
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