From 4cf54971a2f8620f960c45293b773b45beb9d3f3 Mon Sep 17 00:00:00 2001
From: Richard Bowman <r.w.bowman@bath.ac.uk>
Date: Wed, 23 Jun 2021 17:16:17 +0100
Subject: [PATCH] Added a command to check if the stage is moving

---
 .gitignore                  | 1 +
 src/modules/stage/stage.cpp | 9 ++++++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index 89cc49c..933c44f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+.venv/
\ No newline at end of file
diff --git a/src/modules/stage/stage.cpp b/src/modules/stage/stage.cpp
index c37c1f0..4949ddc 100644
--- a/src/modules/stage/stage.cpp
+++ b/src/modules/stage/stage.cpp
@@ -267,6 +267,12 @@ void stage_stop(String command)
     Serial.println("Move aborted");
 }
 
+void is_stage_moving(String command)
+{
+    //TODO: should I bother checking for a ?
+    Serial.println(stage_moving?"true":"false");
+}
+
 //TODO: move help strings to program memory
 //F() cannot be used outside block context though
 extern const Command stage_commands[] = {
@@ -279,6 +285,7 @@ extern const Command stage_commands[] = {
     {"ramp_time", stage_ramp_time},
     {"min_step_delay", stage_min_step_delay},
     {"dt", stage_min_step_delay},
-    {"zero", stage_min_step_delay},
+    {"zero", stage_zero},
     {"stop", stage_stop},
+    {"moving", is_stage_moving},
     END_COMMAND};
\ No newline at end of file