From 512e704fffe0bff8ab2703a254beef2f36936fa2 Mon Sep 17 00:00:00 2001
From: Owen Trueblood <hi@owentrueblood.com>
Date: Fri, 3 Nov 2023 15:03:08 -0400
Subject: [PATCH] Avoid accumulation of position error

---
 src/index.js | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/index.js b/src/index.js
index 63754fa..4e7a009 100644
--- a/src/index.js
+++ b/src/index.js
@@ -265,11 +265,12 @@ export class AxiDraw {
 
     // https://corexy.com/theory.html
     const steps = {
-      x: delta.x * STEPS_PER_MM,
-      y: delta.y * STEPS_PER_MM,
+      x: Math.floor(delta.x * STEPS_PER_MM),
+      y: Math.floor(delta.y * STEPS_PER_MM),
     };
 
-    this.lastCommandedPos = this.targetPos;
+    this.lastCommandedPos.x += steps.x / STEPS_PER_MM;
+    this.lastCommandedPos.y += steps.y / STEPS_PER_MM;
 
     await this.#command(async () => {
       // Wait for the command to be sent and acknowledged