Endstop strength depends on angle and not scaled counts.

Makes endstop stiffness the same for every range setting and not more
intense for smaller ranges.

Author: Ultrawipf

Firmware/FFBoard/Inc/Axis.h

@@ -225,7 +225,7 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	float torqueScaler = 0; // power * fx_ratio as a ratio between 0 & 1
 	bool invertAxis = false;
 	uint8_t endstopStrength = 127; // Sets how much extra torque per count above endstop is added. High = stiff endstop. Low = softer
-	const float endstopGain = 0.75; // Overall max endstop intensity
+	const float endstopGain = 50; // Overall max endstop intensity
 
 
 	uint8_t idlespringstrength = 127;

Firmware/FFBoard/Src/Axis.cpp

@@ -508,8 +508,8 @@ int16_t Axis::updateEndstop(){
 	if(clipdir == 0){
 		return 0;
 	}
-	int32_t addtorque = clip<int32_t,int32_t>(abs(metric.current.pos)-0x7fff,-0x7fff,0x7fff);
-	addtorque *= (float)endstopStrength * endstopGain * torqueScaler; // Apply endstop gain for stiffness. 0.15f
+	float addtorque = clipdir*metric.current.posDegrees - (float)this->degreesOfRotation/2.0; // degress of rotation counts total range so multiply by 2
+	addtorque *= (float)endstopStrength * endstopGain * torqueScaler; // Apply endstop gain for stiffness.
 	addtorque *= -clipdir;
 
 	return clip<int32_t,int32_t>(addtorque,-0x7fff,0x7fff);