From d60ba4c101ca88b1f8642c33fb7aac6c5be42ef8 Mon Sep 17 00:00:00 2001
From: Markus Zolliker <markus.zolliker@psi.ch>
Date: Wed, 6 May 2026 16:02:56 +0200
Subject: [PATCH] frappy_psi/trinamic: fix target reached criterium

Change-Id: I6edd0537ab401f04e6c7464d9e12ea10d04c5ec5
---
 frappy_psi/trinamic.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/frappy_psi/trinamic.py b/frappy_psi/trinamic.py
index a8bd548e..f640c61a 100644
--- a/frappy_psi/trinamic.py
+++ b/frappy_psi/trinamic.py
@@ -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: