From 349868a148f62790f6c6a4b2f765968f385455b8 Mon Sep 17 00:00:00 2001
From: ismail <ismailsahillioglu@gmail.com>
Date: Fri, 21 Feb 2025 17:52:19 +0300
Subject: [PATCH] Fix movement transition issue.

When transitioning the movements directly the channel should be stopped first.
---
 src/relay_chn.c | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/relay_chn.c b/src/relay_chn.c
index f847e61..c871133 100644
--- a/src/relay_chn.c
+++ b/src/relay_chn.c
@@ -484,11 +484,14 @@ static void relay_chn_issue_cmd(relay_chn_t* relay_chn, relay_chn_cmd_t cmd)
                 relay_chn_dispatch_cmd(relay_chn, cmd);
                 return;
             }
-
+            
             if (relay_chn->run_info.last_run_cmd == cmd) {
                 // If the last run command is the same as the current command, do nothing
                 return;
             }
+            
+            // Stop the channel first before the schedule
+            relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
 
             // If the last run command is different from the current command, wait for the opposite inertia time
             relay_chn->pending_cmd = cmd;