update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -497,7 +497,9 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
 void StepMotorCtrlModule::_rotate(int32_t velocity, int32_t acc) {
   if (velocity > 0) {
     m_stepM1->moveToEnd(1, abs(velocity));
+    // m_stepM1->rotate(velocity);
   } else {
+    // m_stepM1->rotate(velocity);
     m_stepM1->moveToEnd(-1, abs(velocity));
   }
 }

components/tmc/ic/ztmc5130.cpp

@@ -199,14 +199,15 @@ void TMC51X0::moveTo(int32_t position, uint32_t velocityMax) {
   writeInt(TMC5130_XTARGET, position);
 }
 void TMC51X0::moveToEnd(int32_t direction, uint32_t velocityMax) {
-  if (direction > 0) {
+  ZLOGI("TMC5130", "moveToEnd %d %d", direction, velocityMax);
+  if (direction >= 0) {
     writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
     writeInt(TMC5130_VMAX, to_motor_vel(velocityMax));
-    writeInt(TMC5130_XTARGET, INT32_MAX);
+    writeInt(TMC5130_XTARGET, INT32_MAX / 2 - 1000);
   } else {
     writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
     writeInt(TMC5130_VMAX, to_motor_vel(velocityMax));
-    writeInt(TMC5130_XTARGET, INT32_MIN);
+    writeInt(TMC5130_XTARGET, INT32_MIN / 2 + 1000);
   }
 }