From 31b36a9a4fce22c3ae986dda74f0536d680f7bed Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Wed, 28 Dec 2022 10:00:43 +0100
Subject: [PATCH] Distinguish iRun<32

as per suggestion from @leptun
---
 src/modules/movable_base.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index a26a48a..5d3d19f 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -25,8 +25,15 @@ void MovableBase::PlanHome() {
 
 void MovableBase::SetCurrents(uint8_t iRun, uint8_t iHold) {
     hal::tmc2130::MotorCurrents tempCurrent = mm::axisParams[axis].currents;
-    tempCurrent.iRun = iRun;
-    tempCurrent.iHold = iHold;
+    if (iRun < 32) {
+        tempCurrent.vSense = 1;
+        tempCurrent.iRun = iRun;
+        tempCurrent.iHold = iHold;
+    } else {
+        tempCurrent.vSense = 0;
+        tempCurrent.iRun = iRun >> 1;
+        tempCurrent.iHold = iHold >> 1;
+    }
     mm::motion.DriverForAxis(axis).SetCurrents(mm::axisParams[axis].params, tempCurrent);
 }