frappy_psi/trinamic: fix target reached criterium

Change-Id: I6edd0537ab401f04e6c7464d9e12ea10d04c5ec5
2026-06-09 14:21:21 +02:00
parent 4241f709df
commit d60ba4c101
1 changed files with 6 additions and 4 deletions
@@ -370,11 +370,13 @@ class Motor(PersistentMixin, HasIO, Drivable):
        if self.interlock_reason:
            return ERROR, self.interlock_reason
        now = time.time()
-        if self.steppos != oldpos or now < self._last_change + 0.25 + self.fast_poll:
+        if self.steppos != oldpos:
            self._last_change = now
-            if self.status[0] == BUSY:
-                return self.status
-            return BUSY, 'moving'
+        if now < self._last_change + 0.25 + self.fast_poll:
+            if not self.read_target_reached():
+                if self.status[0] == BUSY:
+                    return self.status
+                return BUSY, 'moving'
        if self.has_limit_switches:
            bits = self.read_input_bits()
            if self._run_mode == RUN_DRIVE: