stepper: Check if the motor needs to be enabled in the kinematic classes

Check for motor enable in the kinematic classes so it doesn't need to
be checked on every move.

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

1 files changed, 5 insertions, 9 deletions

diff --git a/klippy/stepper.py b/klippy/stepper.py
index 8324eebc..51abd093 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -64,18 +64,14 @@ class PrinterStepper:
         if endstop_pin is not None:
             self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
     def motor_enable(self, move_time, enable=0):
+        if enable and self.need_motor_enable:
+            mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
+            self.mcu_stepper.reset_step_clock(mcu_time)
         if (self.mcu_enable is not None
             and self.mcu_enable.get_last_setting() != enable):
             mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
             self.mcu_enable.set_digital(mcu_time, enable)
-        self.need_motor_enable = True
-    def prep_move(self, move_time):
-        mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
-        if self.need_motor_enable:
-            self.mcu_stepper.reset_step_clock(mcu_time)
-            self.motor_enable(move_time, 1)
-            self.need_motor_enable = False
-        return (mcu_time, self.mcu_stepper)
+        self.need_motor_enable = not enable
     def enable_endstop_checking(self, move_time, step_time):
         mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
         self.mcu_endstop.home(mcu_time, step_time)
@@ -86,7 +82,7 @@ class PrinterStepper:
         self.mcu_endstop.query_endstop()
         return self.mcu_endstop
     def get_homed_offset(self):
-        if not self.homing_stepper_phases:
+        if not self.homing_stepper_phases or self.need_motor_enable:
             return 0
         pos = self.mcu_endstop.get_last_position()
         pos %= self.homing_stepper_phases