bugfix on wait blocks

modules/hardware/motors/stepper

@@ -292,7 +292,7 @@
             trap.accelLength = 0; // never accel
             // we really want speed by multiple times, and total distance we know, for vAvg
             var tSum = (trap.cruise - trap.exit) / trap.accel + trap.deccelLength / trap.cruise
-            trap.vAvg = trap.delta / tSum
+            trap.vAvg = trap.length / tSum
         } else if (trap.cruise == trap.exit) {
             // accel, cruise? unless entry also cruise?
             //console.log('accel then cruise')
@@ -301,7 +301,7 @@
             trap.deccelLength = trap.length + 1; // and never deccel
             // wait 
             var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.delta - trap.accellength) / trap.cruise
-            trap.vAvg = trap.dela / tSum
+            trap.vAvg = trap.length / tSum
         } else {
             // it's either a full trap, or a triangle
             var accelDistance = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)
@@ -313,7 +313,7 @@
                 trap.deccelLength = trap.length - deccelDistance
                 // wait 
                 var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.deccelLength - trap.accellength) / trap.cruise + (trap.cruise - trap.exit) / trap.accel
-                trap.vAvg = trap.delta / tSum
+                trap.vAvg = trap.length / tSum
             } else {
                 //console.log('triangle')
                 trap.ramptype = 'triangle'
@@ -323,8 +323,8 @@
                 var midPoint = (vPeak * vPeak - trap.entry * trap.entry) / (2 * trap.accel)
                 trap.accelLength = midPoint
                 trap.deccelLength = midPoint
-                var tSum = (trap.vPeak - trap.entry) / trap.accel + (trap.vPeak - trap.exit) / trap.accel
-                trap.vAvg = trap.delta / tSum
+                var tSum = (vPeak - trap.entry) / trap.accel + (vPeak - trap.exit) / trap.accel
+                trap.vAvg = trap.length / tSum
             }
         }
 
@@ -362,10 +362,10 @@
         packet.push(132)
         // now we pack these values into C-readable bytes
         // int32_t steps, uint32_t entryspeed, accel, accellength, decellength
-        packet = packet.concat(pack32(stepWait.delta))
+        packet = packet.concat(pack32(trap.delta))
 
         if(isNaN(stepWait.vAvg)){
-            console.log('maths failure on vAvg')
+            console.log('maths failure on vAvg', trap.ramptype)
             packet = packet.concat(pack32(1000))
             console.log('wait block', stepWait.steps, 1000)
         } else {
@@ -396,7 +396,7 @@
     function trapezoidToStepWait(trap) {
         var stepWait = {}
         // planner units -> steps
-        stepWait.steps = Math.round(trap.delta * mod.convert)
+        stepWait.steps = Math.round(trap.length * mod.convert)
         //
         stepWait.vAvg = Math.round(trap.vAvg * mod.convert)