Handle zero length dwell correctly.

diff --git a/CHANGELOG.md b/CHANGELOG.md
index f89c8d352824c15bb7c1191a0970f38cefed486d..26c4b2c6db2ad5d756538cb46ce4050dc0ce5948 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,10 @@ Buildbotics CNC Controller Firmware Changelog
  - Prevent ``Stream is closed`` error.
  - Suppress ``WebGL not supported`` warning.
  - Fixed Web disconnect during simulation of large GCode.
+ - Disable outputs on estop.
+ - Improved switch debouncing for better homing.
+ - Removed tool-reversed option.  Use tool-direction-mode instead.
+ - Handle zero length dwell correctly.
 
 ## v0.4.1
  - Fix toolpath view axes bug.

diff --git a/src/avr/src/stepper.c b/src/avr/src/stepper.c
index f81b5f11d347069c7a1b5eac7d3b6999632f1311..3f96521e7100e6d7827affb771d95c83c3bb3951 100644 (file)
--- a/src/avr/src/stepper.c
+++ b/src/avr/src/stepper.c
@@ -230,6 +230,7 @@ void st_prep_line(const float target[]) {
 /// Add a dwell to the move buffer
 void st_prep_dwell(float seconds) {
   ESTOP_ASSERT(!st.move_ready, STAT_STEPPER_NOT_READY);
+  if (seconds <= 1e-4) seconds = 1e-4; // Min dwell
   spindle_load_power_updates(st.prep_powers, 0, 0);
   st.prep_dwell = seconds;
   st.move_queued = true; // signal prep buffer ready