diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 14 |
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 |