Avoid accumulation of position error

jmpinit · Nov 3, 2023 · 512e704 · 512e704
1 parent 7e3599c
commit 512e704
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/src/index.js b/src/index.js
@@ -265,11 +265,12 @@ export class AxiDraw {
 
     // https://corexy.com/theory.html
     const steps = {
-      x: delta.x * STEPS_PER_MM,
-      y: delta.y * STEPS_PER_MM,
+      x: Math.floor(delta.x * STEPS_PER_MM),
+      y: Math.floor(delta.y * STEPS_PER_MM),
     };
 
-    this.lastCommandedPos = this.targetPos;
+    this.lastCommandedPos.x += steps.x / STEPS_PER_MM;
+    this.lastCommandedPos.y += steps.y / STEPS_PER_MM;
 
     await this.#command(async () => {
       // Wait for the command to be sent and acknowledged