Revert "bltouch: No need to pause the toolhead for PWM off commands"

This reverts commit 5c8d15bbee9b1c4c82e3a2ecb5c63ce37f4a8dcb.

The lower_probe() code was already manually optimizing the timing of
the pwm disable, and that conflicted with the optimization in commit
5c8d15bb.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 4 insertions, 6 deletions

diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py
index 5f3e88da..56d6d323 100644
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -36,7 +36,7 @@ class BLTouchEndstopWrapper:
         self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin'))
         self.mcu_pwm.setup_max_duration(0.)
         self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD)
-        self.next_cmd_time = self.action_end_time = 0.
+        self.next_cmd_time = 0.
         # Create an "endstop" object to handle the sensor pin
         pin = config.get('sensor_pin')
         pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
@@ -89,10 +89,10 @@ class BLTouchEndstopWrapper:
     def sync_print_time(self):
         toolhead = self.printer.lookup_object('toolhead')
         print_time = toolhead.get_last_move_time()
-        if print_time > self.next_cmd_time:
+        if self.next_cmd_time > print_time:
+            toolhead.dwell(self.next_cmd_time - print_time)
+        else:
             self.next_cmd_time = print_time
-        elif self.action_end_time > print_time:
-            toolhead.dwell(self.action_end_time - print_time)
     def send_cmd(self, cmd, duration=MIN_CMD_TIME):
         self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
         # Translate duration to ticks to avoid any secondary mcu clock skew
@@ -100,8 +100,6 @@ class BLTouchEndstopWrapper:
         cmd_clock = mcu.print_time_to_clock(self.next_cmd_time)
         cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME))
         self.next_cmd_time = mcu.clock_to_print_time(cmd_clock)
-        if cmd is not None:
-            self.action_end_time = self.next_cmd_time
         return self.next_cmd_time
     def verify_state(self, check_start_time, check_end_time, triggered):
         # Perform endstop check to verify bltouch reports desired state