In ClearPathMotorSD.cpp there's some lines with a potential operator precedence error
171 if(TargetPosnQx-MovePosnQx>50<<fractionalBits){
172 MovePosnQx=MovePosnQx+50<<fractionalBits;
173 }
Line 171 is parsed as ((TargetPosnQx-MovePosnQx) > (50<<fractionalBits)) and it logically follows that if it evaluates to true then the intention would be to increment MovePosnQx by (50<<fractionalBits) but I believe line 172 is being parsed as (MovePosnQx+50) << fractionalBits.
In ClearPathMotorSD.cpp there's some lines with a potential operator precedence error
Line 171 is parsed as
((TargetPosnQx-MovePosnQx) > (50<<fractionalBits))and it logically follows that if it evaluates to true then the intention would be to increment MovePosnQx by(50<<fractionalBits)but I believe line 172 is being parsed as(MovePosnQx+50) << fractionalBits.