From 63a5fcd518caac81b7fd7a1de3ef65bf5cabb8be Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Tue, 13 May 2025 14:39:08 +0200
Subject: [PATCH] Allow enabling / disabling the motor regardless of the status
 returned by the poll.

---
 src/turboPmacAxis.cpp | 19 ++++++++-----------
 1 file changed, 8 insertions(+), 11 deletions(-)

diff --git a/src/turboPmacAxis.cpp b/src/turboPmacAxis.cpp
index 20446da..23c942c 100644
--- a/src/turboPmacAxis.cpp
+++ b/src/turboPmacAxis.cpp
@@ -392,13 +392,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     switch (axStatus) {
     case -6:
         // Axis is stopping
-
-        // If the axis was already idle during the last poll, it is not moving
-        if (previousStatusDone == 0) {
-            *moving = true;
-        } else {
-            *moving = false;
-        }
+        *moving = true;
         break;
     case -5:
         // Axis is deactivated
@@ -1277,11 +1271,14 @@ asynStatus turboPmacAxis::enable(bool on) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
+    /*
+    Continue regardless of the status returned by the poll; we just want to
+    find out whether the motor is currently moving or not. If the poll
+    function fails before it can determine that, it is assumed that the motor
+    is not moving.
+    */
     bool moving = false;
-    rw_status = doPoll(&moving);
-    if (rw_status != asynSuccess) {
-        return rw_status;
-    }
+    doPoll(&moving);
 
     // =========================================================================