From f908b771ea04180eaa23894559a184e69cb72f2f Mon Sep 17 00:00:00 2001
From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Tue, 27 Nov 2018 15:04:22 -0800
Subject: [PATCH] Handle zero length dwell correctly.

---
 CHANGELOG.md          | 4 ++++
 src/avr/src/stepper.c | 1 +
 2 files changed, 5 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index f89c8d3..26c4b2c 100644
--- 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 f81b5f1..3f96521 100644
--- 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
-- 
2.27.0