Search for the maximum reachable value instead of the maximum "add".
The maximum reachable value encompasses both the maximum count and a
closest step time to the last requested step time. This allows for
more "add=0" sequences to be generated which the mcu can optimize for.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The test to check if the queue only needed to be moved was not correct
and it could lead to a segfault if clean_queue() was called instead of
actually increasing the queue size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check for an invalid count and report an error if found. This
prevents some segfaults when count goes negative.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
At high step speeds, it is possible to exit the inner scan due to
integer truncation. Always update minadd or maxadd so that the outer
loop always terminates.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor