message: step callback needs to increment input_pos, not pos_setpoint
diff: @@ -79,7 +79,7 @@ void Axis::step_cb() {
  if (step_dir_active_) {
  GPIO_PinState dir_pin = HAL_GPIO_ReadPin(dir_port_, dir_pin_);
  float dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
  - controller_.pos_setpoint_ += dir * config_.counts_per_step;
  + controller_.input_pos_ += dir * config_.counts_per_step;
  }
  };
  