move setting target to beginning of move()

simplefoc · Jun 5, 2024 · 79af273 · 79af273
1 parent 27189ec
commit 79af273
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/src/motors/HybridStepperMotor/HybridStepperMotor.cpp b/src/motors/HybridStepperMotor/HybridStepperMotor.cpp
@@ -295,6 +295,10 @@ void HybridStepperMotor::loopFOC()
 void HybridStepperMotor::move(float new_target)
 {
 
+  // set internal target variable
+  if (_isset(new_target))
+    target = new_target;
+
   // downsampling (optional)
   if (motion_cnt++ < motion_downsample)
     return;
@@ -315,9 +319,6 @@ void HybridStepperMotor::move(float new_target)
   if (!enabled)
     return;
 
-  // set internal target variable
-  if (_isset(new_target))
-    target = new_target;
 
   // calculate the back-emf voltage if KV_rating available U_bemf = vel*(1/KV)
   if (_isset(KV_rating))