From 4133a72c332ae3c2c3a3cc92021316d15e450b11 Mon Sep 17 00:00:00 2001
From: 94xhn <87560781+94xhn@users.noreply.github.com>
Date: Thu, 16 Jul 2026 15:04:45 +0800
Subject: [PATCH] Fix off-by-one in moveTimed() duration chunking at 131072
 boundary

When this_duration == 131072 exactly, the check `this_duration > 131072`
falls through to the `this_duration > 65535` branch, which computes
this_duration / 2 == 65536. Since cmd.ticks is a uint16_t, this silently
truncates to 0, causing addQueueEntry() to reject the command with
AQE_ERROR_TICKS_TOO_LOW and moveTimed() to return an error for an
otherwise perfectly ordinary single-step move.

Changing the comparison to >= mirrors the already-correct sibling
check in the steps==0 loop above (line 768: `duration >= 131072`),
which never exhibits this bug.
---
 src/FastAccelStepper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/FastAccelStepper.cpp b/src/FastAccelStepper.cpp
index 32c3818f..e79f76f9 100644
--- a/src/FastAccelStepper.cpp
+++ b/src/FastAccelStepper.cpp
@@ -817,7 +817,7 @@ MoveTimedResultCode FastAccelStepper::moveTimed(int16_t steps,
       uint32_t this_duration = rate;
       cmd.steps = 1;
       while (this_duration) {
-        if (this_duration > 131072) {
+        if (this_duration >= 131072) {
           cmd.ticks = 65535;
         } else if (this_duration > 65535) {
           cmd.ticks = this_duration / 2;