handleMove: reply when move finishedHEADmaster

1 files changed, 8 insertions, 2 deletions

diff --git a/esp32c3_stand_firmware/esp32c3_stand_firmware.ino b/esp32c3_stand_firmware/esp32c3_stand_firmware.ino
index d2cb559..70debb7 100644
--- a/esp32c3_stand_firmware/esp32c3_stand_firmware.ino
+++ b/esp32c3_stand_firmware/esp32c3_stand_firmware.ino
@@ -128,8 +128,7 @@ void handleMove()
   const auto stepsStr = server.arg(stepsArg);
   s.print("handleMove: arg(stepsArg): ");
   s.println(stepsStr);
-  
-  server.send(200, "text/plain", "move " + stepsStr + " steps\n");
+
   stepperRun = true;
   stepper.enableOutputs();
 
@@ -138,6 +137,13 @@ void handleMove()
   //bool backward = rand() % 2;
   //stepper.move(8000 * (backward ? -1 : 1));
   stepper.move(steps);
+
+  while (stepper.distanceToGo() != 0)
+  {
+    stepper.run();
+  }
+  
+  server.send(200, "text/plain", "move " + stepsStr + " steps\n");
 }
 
 void handleStop()