Removed redundant carry mechanism

Author: pvyleta

Firmware/tmc2130.cpp

@@ -911,7 +911,7 @@ void tmc2130_get_wave(uint8_t axis, uint8_t* data)
 // - Analog Devices AN-026: "Stepper Motor Control Using TMC2130"
 //   https://www.analog.com/en/resources/app-notes/an-026.html
 uint8_t tmc2130_calc_constant_torque_value(uint8_t i, uint8_t va, float fac, float tcorr,
-                                          float& carry, float& prev_theoretical_value) {
+                                          float& prev_theoretical_value) {
 	constexpr uint8_t SIN0 = 0;
 	constexpr uint8_t AMP = 248;  // Amplitude limit as per AN-026 recommendation
 	constexpr float TARGET_MAGNITUDE_SQUARED = (float)AMP * AMP + (float)SIN0 * SIN0;
@@ -940,10 +940,8 @@ uint8_t tmc2130_calc_constant_torque_value(uint8_t i, uint8_t va, float fac, flo
 		theoretical_value = sqrt(TARGET_MAGNITUDE_SQUARED - mirror_theoretical * mirror_theoretical);
 	}
 
-	// Step 1: Apply carry mechanism and initial quantization
-	// Carry compensates for accumulated rounding errors from previous steps
-	float adjusted_theoretical = theoretical_value - carry;
-	uint8_t candidate_value = (uint8_t)(adjusted_theoretical + 0.5);
+	// Step 1: Initial quantization using simple rounding
+	uint8_t candidate_value = (uint8_t)(theoretical_value + 0.5);
 
 	// Step 2: Slope-based delta limiting for TMC2130 compression
 	// Calculate slope between current and previous theoretical values
@@ -977,10 +975,6 @@ uint8_t tmc2130_calc_constant_torque_value(uint8_t i, uint8_t va, float fac, flo
 		candidate_value = AMP;
 	}
 
-	// Step 4: Update carry for next iteration
-	// Carry = quantization_error = actual_output - theoretical_target
-	carry = candidate_value - theoretical_value;
-
 	// Update previous theoretical value for next slope calculation
 	prev_theoretical_value = theoretical_value;
 
@@ -1015,7 +1009,6 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000)
 	uint32_t reg = 0;              //tmc2130 register
 
 	// Constant torque algorithm parameters (only used if use_constant_torque is true)
-	float carry = 0.0;  // Carry value to handle rounding adjustments
 	float prev_theoretical_value = 0.0;  // Cache previous theoretical value for slope calculation (initialized with SIN0)
 	float tcorr = 1.0;  // Pre-calculated correction factor for constant torque algorithm
 
@@ -1040,7 +1033,7 @@ void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac1000)
 			reg = 0;
 
 		if (use_constant_torque) {
-			vA = tmc2130_calc_constant_torque_value(i, va, fac, tcorr, carry, prev_theoretical_value);
+			vA = tmc2130_calc_constant_torque_value(i, va, fac, tcorr, prev_theoretical_value);
 		} else {
 			// calculate value
 			if (fac == 1) // default TMC wave