Bugfix subsequent stepper speeds being lost on overlapping moves

missionpinball · Oct 13, 2024 · 352d3b6 · 352d3b6
1 parent f563b63
commit 352d3b6
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/mpf/devices/stepper.py b/mpf/devices/stepper.py
@@ -135,22 +135,23 @@ async def _run(self):
                               delta, target_position, self._current_position)
                 # move stepper
                 self.hw_stepper.move_rel_pos(delta, self._target_speed)
+                # Clear the speed override here, in case a subsequent move wants
+                # to set one before this one finishes.
+                self._target_speed = None
                 # wait for the move to complete
                 await self.hw_stepper.wait_for_move_completed()
             else:
                 self.info_log("Got command to move (relative) to %s, but already there. Not moving.",
                               self._target_position)
             # set current position
             self._current_position = target_position
-            # Clear the speed override
-            self._target_speed = None
             # post ready event
             self._post_ready_event()
 
     def _move_to_absolute_position(self, position, speed=None):
         """Move stepper to position."""
-        self.info_log("%s: Moving to absolute position %s. Current position: %s",
-                      self.hw_stepper, position, self._current_position)
+        self.info_log("Moving to absolute position %s. Current position: %s",
+                      position, self._current_position)
         if self.config['pos_min'] <= position <= self.config['pos_max']:
             self._target_position = position
             self._target_speed = speed

diff --git a/mpf/platforms/fast/fast_stepper.py b/mpf/platforms/fast/fast_stepper.py
@@ -56,7 +56,7 @@ def move_rel_pos(self, position, speed=None):
 
         base_command = "MF" if position > 0 else "MR"
         hex_position = Util.int_to_hex_string(position, True)
-        self.log.debug("Moving stepper index %s: %s steps with speed %s", self.stepper_index, position, speed)
+        self.log.info("Moving stepper index %s: %s steps with speed %s", self.stepper_index, position, speed)
 
         if speed:
             if speed < MIN_SPEED or speed > MAX_SPEED: