From d77d31b883098fd1588a29eabdf74787da501633 Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Thu, 13 Oct 2022 22:22:02 +0200
Subject: [PATCH] Idler dynamic IHOLD adjustments

---
 src/modules/idler.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index 288597c..4eee6f9 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -53,8 +53,13 @@ bool Idler::FinishHomingAndPlanMoveToParkPos() {
 
 void Idler::FinishMove() {
     currentlyEngaged = plannedMove;
-    if (Disengaged()) // turn off power into the Idler motor when disengaged (no force necessary)
-        mm::motion.Disable(mm::Idler);
+    if (Disengaged()) // reduce power into the Idler motor when disengaged (less force necessary)
+        mm::motion.DriverForAxis(axis).SetCurrents(mm::axisParams[axis].params, mm::axisParams[axis].currents);
+    else if (Engaged()) { // maximum motor power when the idler is engaged
+        hal::tmc2130::MotorCurrents tempCurrent = mm::axisParams[axis].currents;
+        tempCurrent.iHold = tempCurrent.iRun;
+        mm::motion.DriverForAxis(axis).SetCurrents(mm::axisParams[axis].params, tempCurrent);
+    }
 }
 
 Idler::OperationResult Idler::Disengage() {