From cbc0be105b556228e0c62d08bf36aa27deb3344e Mon Sep 17 00:00:00 2001
From: Antun Skuric <36178713+askuric@users.noreply.github.com>
Date: Wed, 24 May 2023 09:57:17 +0200
Subject: [PATCH 1/2] BLDCMotor typo angle instead of velocity

---
 src/BLDCMotor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
index 499ac4d3..09567aa7 100644
--- a/src/BLDCMotor.cpp
+++ b/src/BLDCMotor.cpp
@@ -419,7 +419,7 @@ void BLDCMotor::move(float new_target) {
       shaft_angle_sp = target;
       // calculate velocity set point
       shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
-      shaft_angle_sp = _constrain(shaft_angle_sp,-velocity_limit, velocity_limit);
+      shaft_velocity_sp = _constrain(shaft_velocity_sp,-velocity_limit, velocity_limit);
       // calculate the torque command - sensor precision: this calculation is ok, but based on bad value from previous calculation
       current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
       // if torque controlled through voltage

From 1df947091ba4993e90c249cd75e856d20241114c Mon Sep 17 00:00:00 2001
From: Antun Skuric <36178713+askuric@users.noreply.github.com>
Date: Wed, 24 May 2023 09:58:25 +0200
Subject: [PATCH 2/2] StepperMotor typo, angle instead velocity

---
 src/StepperMotor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/StepperMotor.cpp b/src/StepperMotor.cpp
index 48d2cc27..aed56807 100644
--- a/src/StepperMotor.cpp
+++ b/src/StepperMotor.cpp
@@ -308,7 +308,7 @@ void StepperMotor::move(float new_target) {
       shaft_angle_sp = target;
       // calculate velocity set point
       shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
-      shaft_angle_sp = _constrain(shaft_angle_sp, -velocity_limit, velocity_limit);
+      shaft_velocity_sp = _constrain(shaft_velocity_sp, -velocity_limit, velocity_limit);
       // calculate the torque command
       current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
       // if torque controlled through voltage
@@ -440,4 +440,4 @@ float StepperMotor::angleOpenloop(float target_angle){
   open_loop_timestamp = now_us;
 
   return Uq;
-}
\ No newline at end of file
+}