bugfix : move on limit

prevent one step to happen when trying to move and on limit

Atm_AccelStepper.cpp

@@ -151,7 +151,7 @@ void Atm_AccelStepper::action( int id ) {
 
     case ENT_ENABLED:
       // _isHoming = 0 ;
-      stepper_update();
+      // stepper_update();
       if(last_trigger == EVT_ON_TARGET){push( connectors, ON_ONTARGET, 0, _currentStep, 0 );};
       push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       push(connectors, ON_CHANGEPOSITION, 0,  stepper->currentPosition(), _currentSpeed);
@@ -166,7 +166,7 @@ void Atm_AccelStepper::action( int id ) {
     case ENT_RUNNING:
       push(connectors, ON_CHANGESTATE, 0,  state(), 0);
       
-      if (last_trigger!=EVT_ON_LIMIT_LOW && last_trigger!=EVT_ON_LIMIT_HIGH){compensatePlay(_currentSpeed);}
+      if (last_trigger!=EVT_ON_LIMIT_LOW && last_trigger!=EVT_ON_LIMIT_HIGH){compensatePlay(_currentSpeed);break;}
       if (runMode){stepper->setSpeed( _currentSpeed);}
       else{stepper->moveTo(_targetStep);}
       position_timer.setFromNow(this, POSITION_SEND_TIMER);
@@ -177,23 +177,24 @@ void Atm_AccelStepper::action( int id ) {
       // if on limits and limits are hard, stop moving in one direction
       if(limitLow_State && _limitLow_Hard && (_currentSpeed<0.)) {
           trigger(EVT_EMERGENCY_STOP);
-
+          break;
         }
       if( limitHigh_State && _limitHigh_Hard && (_currentSpeed>0.)) {
           trigger(EVT_EMERGENCY_STOP);
+          break;
         }
       // if hard limits and homing is done, check current position is within limits
       if (_limitLow_Hard &&  homingLow_done) {
-        if( (_currentStep<0) && (_currentSpeed<0.)) {trigger(EVT_EMERGENCY_STOP);}
+        if( (_currentStep<0) && (_currentSpeed<0.)) {trigger(EVT_EMERGENCY_STOP);break;}
       }
       if (_limitHigh_Hard &&  _maxStep) { //maxstep is 0 if not defined
-        if( (_currentStep>_maxStep) && (_currentSpeed>0.)) {trigger(EVT_EMERGENCY_STOP);}
+        if( (_currentStep>_maxStep) && (_currentSpeed>0.)) {trigger(EVT_EMERGENCY_STOP);break;}
       }
 
       stepper_update();
 
-      if(runMode && _currentSpeed == 0.) {trigger(EVT_EMERGENCY_STOP);}//trigger(EVT_ON_TARGET);
-      if(!runMode && (_currentStep==_targetStep)){push( connectors, ON_ONTARGET, 0, _currentStep, 0 );trigger(EVT_EMERGENCY_STOP);}
+      if(runMode && _currentSpeed == 0.) {trigger(EVT_EMERGENCY_STOP);break;}//trigger(EVT_ON_TARGET);
+      if(!runMode && (_currentStep==_targetStep)){push( connectors, ON_ONTARGET, 0, _currentStep, 0 );trigger(EVT_EMERGENCY_STOP);break;}
       return;
 
     case ENT_STOP:
@@ -204,6 +205,7 @@ void Atm_AccelStepper::action( int id ) {
           // stepper_update();
           stepper->stop();
           _targetStep = stepper->targetPosition();
+          break;
           // push( connectors, ON_STOP, 0, 0, 0 );
         }
         if (last_trigger == EVT_EMERGENCY_STOP) {
@@ -212,17 +214,19 @@ void Atm_AccelStepper::action( int id ) {
           _currentStep = stepper->currentPosition();
           _targetStep = _currentStep ;
           stepper->setCurrentPosition(_currentStep);
+          break;
           // stepper->moveTo(_targetStep);
           // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
           // push( connectors, ON_STOP, 0, 1, 0 );
         }
-        stepper_update();
+        // stepper_update();
         // push(connectors, ON_CHANGEPOSITION, 0,  _currentStep, stepper->speed());
         return;
 
     case LP_STOP:
+      
+      if(_currentSpeed == 0.) {trigger(EVT_ENABLE);break;}
       stepper_update();
-      if(_currentSpeed == 0.) {trigger(EVT_ENABLE);}
       return;
 
     case ENT_HOMING_LOW:
@@ -466,6 +470,7 @@ Atm_AccelStepper& Atm_AccelStepper::move( long int stepRel) {
   _targetStep   = _currentStep + stepRel;
   runMode = 0;
   stepper->moveTo(_targetStep);
+  _currentSpeed = stepper->speed();
   enable();
   trigger( EVT_MOVE );
   return *this;
@@ -475,6 +480,7 @@ Atm_AccelStepper& Atm_AccelStepper::moveTo( long int stepAbs) {
   _targetStep   = stepAbs;
   runMode = 0;
   stepper->moveTo(_targetStep);
+  _currentSpeed = stepper->speed();
   enable();
   trigger( EVT_MOVE );
   return *this;
@@ -485,6 +491,7 @@ Atm_AccelStepper& Atm_AccelStepper::movePercent( float percent) {
   runMode = 0;
   // Serial.println(_targetStep);
   stepper->moveTo(_targetStep);
+  _currentSpeed = stepper->speed();
   enable();
   trigger( EVT_MOVE );
   return *this;
@@ -494,6 +501,7 @@ Atm_AccelStepper& Atm_AccelStepper::moveToPercent( float percent) {
   _targetStep   = (float) percent/100*float(_maxStep) ;
   runMode = 0;
   stepper->moveTo(_targetStep);
+  _currentSpeed = stepper->speed();
   enable();
   trigger( EVT_MOVE );
   return *this;