From 4f51b92d4bd27cea2744cbae106cfeecf3ac6ff3 Mon Sep 17 00:00:00 2001
From: gabrielburnworth <gabrielburnworth@users.noreply.github.com>
Date: Sat, 16 Dec 2017 15:11:03 -0800
Subject: [PATCH] fix ABC speed bug

---
 src/StepperControl.cpp | 24 ++++++++++++++++++------
 src/StepperControl.h   |  1 +
 2 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/src/StepperControl.cpp b/src/StepperControl.cpp
index 631e123..7411dd5 100644
--- a/src/StepperControl.cpp
+++ b/src/StepperControl.cpp
@@ -243,22 +243,34 @@ int StepperControl::moveToCoords(double xDestScaled, double yDestScaled, double
 
   if (xMaxSpd > 0 && xMaxSpd < speedMax[0])
   {
-    speedMax[0] = xMaxSpd;
+    commandSpeed[0] = xMaxSpd;
+  }
+  else
+  {
+    commandSpeed[0] = speedMax[0];
   }
 
   if (yMaxSpd > 0 && yMaxSpd < speedMax[1])
   {
-    speedMax[1] = yMaxSpd;
+    commandSpeed[1] = yMaxSpd;
+  }
+    else
+  {
+    commandSpeed[1] = speedMax[1];
   }
 
   if (zMaxSpd > 0 && zMaxSpd < speedMax[2])
   {
-    speedMax[2] = zMaxSpd;
+    commandSpeed[2] = zMaxSpd;
+  }
+    else
+  {
+    commandSpeed[2] = speedMax[2];
   }
 
-  axisX.setMaxSpeed(speedMax[0]);
-  axisY.setMaxSpeed(speedMax[1]);
-  axisZ.setMaxSpeed(speedMax[2]);
+  axisX.setMaxSpeed(commandSpeed[0]);
+  axisY.setMaxSpeed(commandSpeed[1]);
+  axisZ.setMaxSpeed(commandSpeed[2]);
 
   // Load coordinates into axis class
 
diff --git a/src/StepperControl.h b/src/StepperControl.h
index edff369..8c3a30a 100644
--- a/src/StepperControl.h
+++ b/src/StepperControl.h
@@ -104,6 +104,7 @@ private:
 
   bool homeIsUp[3] = {false, false, false};
   long speedMax[3] = {0, 0, 0 };
+  long commandSpeed[3] = { 0, 0, 0 };
   long speedMin[3] = { 0, 0, 0 };
   long speedHome[3] = { 0, 0, 0 };
   long stepsAcc[3] = { 0, 0, 0 };