From ad704580852ce2105f5f30783e148c9d0c3b2727 Mon Sep 17 00:00:00 2001
From: Jurjen Verbruggen <account@jurjenverbruggen.nl>
Date: Sun, 23 Jun 2024 22:17:08 +0200
Subject: [PATCH] Fix for linear actuator target position instruction

---
 .../flatride/linearactuator/LinearActuator.java   | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/main/java/com/jverbruggen/jrides/animator/flatride/linearactuator/LinearActuator.java b/src/main/java/com/jverbruggen/jrides/animator/flatride/linearactuator/LinearActuator.java
index cdcc22f..75ffffd 100644
--- a/src/main/java/com/jverbruggen/jrides/animator/flatride/linearactuator/LinearActuator.java
+++ b/src/main/java/com/jverbruggen/jrides/animator/flatride/linearactuator/LinearActuator.java
@@ -95,6 +95,19 @@ public void setUpperOperatingRange(double upper) {
 
     @Override
     public void goTowards(double targetPosition, double fromPosition, double acceleration, FlatRideComponentSpeed componentSpeed) {
-        componentSpeed.accelerate(acceleration);
+        boolean shouldAccelerate;
+        double currentPosition = getInstructionPosition();
+
+        // If from position is lower than target
+        if(fromPosition <= targetPosition){
+            // Then it should accelerate while the current position is lower than the target
+            shouldAccelerate = currentPosition < targetPosition;
+        }else{
+            // Otherwise do the reverse
+            shouldAccelerate = targetPosition < currentPosition;
+        }
+
+        if(shouldAccelerate)
+            componentSpeed.accelerate(acceleration);
     }
 }