Guard against race condition with targetReached

src/masterMacsAxis.cpp

@@ -532,9 +532,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     } else {
 
-        // If we wait for a handshake, but the motor was moving in its last poll
-        // cycle and has reached its target, it is not moving. Otherwise it is
-        // considered moving, even if we're still waiting for the handshake.
+        // If the motor hasn't moved after being enabled, we cannot trust
+        // targetReached. Hence, the targetReachedUninitialized flag guards
+        // against invalid detection of the "moving" status.
         if (pMasterMacsA_->targetReachedUninitialized) {
             *moving = false;
         } else {
@@ -545,7 +545,13 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
 
-        if (targetReached()) {
+        // If the motor is not switched on, the targetReached bit is set to
+        // true. targetReachedUninitialized is set to true in the enable
+        // function, which is in a separate thread than doPoll. Therefore,
+        // doPoll can reset targetReachedUninitialized, which then can lead to
+        // a false "moving" status. Therefore, we only trust targetReached if
+        // the motor is switched on.
+        if (targetReached() && switchedOn()) {
             pMasterMacsA_->targetReachedUninitialized = false;
         }
     }