From 8ba1609891aa5e255a4a60b93751f5be74038c0d Mon Sep 17 00:00:00 2001
From: hyperspacex2 <72079149+hyperspacex2@users.noreply.github.com>
Date: Wed, 28 Feb 2024 22:06:23 +0100
Subject: [PATCH 1/2] Reset remainder

Reset the remainder of the taylor approximation for deceleration ramp
---
 src/BasicStepperDriver.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/BasicStepperDriver.cpp b/src/BasicStepperDriver.cpp
index 83f3b0a..d7d1bf7 100644
--- a/src/BasicStepperDriver.cpp
+++ b/src/BasicStepperDriver.cpp
@@ -287,9 +287,10 @@ void BasicStepperDriver::calcStepPulse(void){
         case ACCELERATING:
             if (step_count < steps_to_cruise){
                 step_pulse = step_pulse - (2*step_pulse+rest)/(4*step_count+1);
-                rest = (step_count < steps_to_cruise) ? (2*step_pulse+rest) % (4*step_count+1) : 0;
+                rest = (2*step_pulse+rest) % (4*step_count+1);
             } else {
                 // The series approximates target, set the final value to what it should be instead
+                rest = 0;
                 step_pulse = cruise_step_pulse;
             }
             break;

From 766637d0c431541d8b0eac902d42630d405fb2e7 Mon Sep 17 00:00:00 2001
From: hyperspacex2 <72079149+hyperspacex2@users.noreply.github.com>
Date: Wed, 28 Feb 2024 22:10:37 +0100
Subject: [PATCH 2/2] style: reposition

---
 src/BasicStepperDriver.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/BasicStepperDriver.cpp b/src/BasicStepperDriver.cpp
index d7d1bf7..43d0f83 100644
--- a/src/BasicStepperDriver.cpp
+++ b/src/BasicStepperDriver.cpp
@@ -290,8 +290,8 @@ void BasicStepperDriver::calcStepPulse(void){
                 rest = (2*step_pulse+rest) % (4*step_count+1);
             } else {
                 // The series approximates target, set the final value to what it should be instead
-                rest = 0;
                 step_pulse = cruise_step_pulse;
+                rest = 0;
             }
             break;