Fix chopping negative move values in PlanLongMove

+ use PlanLongMove in UnloadToFinda
+ fix comment in unit test

src/logic/unload_to_finda.cpp

@@ -36,7 +36,7 @@ bool UnloadToFinda::Step() {
         if (mi::idler.Engaged()) {
             state = WaitingForFINDA;
             mg::globals.SetFilamentLoaded(mg::globals.ActiveSlot(), mg::FilamentLoadState::InSelector);
-            mm::motion.PlanMove<mm::Pulley>(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyFeedrate); // @@TODO constants
+            mm::motion.PlanLongMove<mm::Pulley>(-config::defaultBowdenLength - config::feedToFinda - config::filamentMinLoadedToMMU, config::pulleyFeedrate);
         }
         return false;
     case WaitingForFINDA:

src/modules/motion.h

@@ -170,12 +170,22 @@ public:
     constexpr void PlanLongMove(config::Unit<long double, B, Lenght> delta,
         config::Unit<long double, B, Speed> feed_rate, config::Unit<long double, B, Speed> end_rate = { 0 }) {
         auto steps = unitToAxisUnit<AxisUnit<pos_t, A, Lenght>>(delta);
-        while (steps.v > 32767) {
+        if (steps.v < 0) {
-            PlanMove<A>(
+            while (steps.v > 32767) {
-                { 32767 },
+                PlanMove<A>(
-                unitToAxisUnit<AxisUnit<steps_t, A, Speed>>(feed_rate),
+                    { 32767 },
-                unitToAxisUnit<AxisUnit<steps_t, A, Speed>>(feed_rate)); // keep the end feedrate the same to continue with the next segment
+                    unitToAxisUnit<AxisUnit<steps_t, A, Speed>>(feed_rate),
-            steps.v -= 32767;
+                    unitToAxisUnit<AxisUnit<steps_t, A, Speed>>(feed_rate)); // keep the end feedrate the same to continue with the next segment
+                steps.v -= 32767;
+            }
+        } else {
+            while (steps.v < -32767) {
+                PlanMove<A>(
+                    { -32767 },
+                    unitToAxisUnit<AxisUnit<steps_t, A, Speed>>(feed_rate),
+                    unitToAxisUnit<AxisUnit<steps_t, A, Speed>>(feed_rate)); // keep the end feedrate the same to continue with the next segment
+                steps.v += 32767;
+            }
         }
         PlanMove<A>( // last segment
             steps,

tests/unit/logic/tool_change/test_tool_change.cpp

@@ -39,7 +39,7 @@ void FeedingToBondtech(logic::ToolChange &tc, uint8_t toSlot) {
     REQUIRE(WhileCondition(
         tc,
         [&](int step) -> bool {
-        if(step == 2000){ // on 5000th step make filament sensor trigger
+        if(step == 2000){ // on 2000th step make filament sensor trigger
             mfs::fsensor.ProcessMessage(true);
         }
         return tc.TopLevelState() == ProgressCode::FeedingToBondtech; },