Axis CPR reports 0 if no encoder available to prevent errors

Ultrawipf · Jun 9, 2024 · edfbe5a · edfbe5a
1 parent 8f8e0da
commit edfbe5a
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/Firmware/FFBoard/Src/Axis.cpp b/Firmware/FFBoard/Src/Axis.cpp
@@ -898,9 +898,12 @@ CommandStatus Axis::command(const ParsedCommand& cmd,std::vector<CommandReply>&
 		break;
 
 	case Axis_commands::cpr:
-		if (cmd.type == CMDtype::get && this->drv->getEncoder() != nullptr)
+		if (cmd.type == CMDtype::get)
 		{
-			uint32_t cpr = this->drv->getEncoder()->getCpr();
+			uint32_t cpr = 0;
+			if(this->drv->getEncoder() != nullptr){
+				cpr = this->drv->getEncoder()->getCpr();
+			}
 //#ifdef TMC4671DRIVER // CPR should be consistent with position. Maybe change TMC to prescale to encoder count or correct readout in UI
 //			TMC4671 *tmcdrv = dynamic_cast<TMC4671 *>(this->drv.get()); // Special case for TMC. Get the actual encoder resolution
 //			if (tmcdrv && tmcdrv->hasIntegratedEncoder())