From 07879e052b6a0ebff7948d1fab364e40c8b8f635 Mon Sep 17 00:00:00 2001
From: Jim Morris <morris@wolfman.com>
Date: Sat, 9 Jul 2016 00:03:07 -0700
Subject: [PATCH] fix issue for very small moves that do not generate any steps

---
 src/modules/robot/Robot.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index 1a02f641..0fe15085 100644
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -1026,10 +1026,11 @@ bool Robot::append_milestone(const float target[], float rate_mm_s)
     if(THEKERNEL->planner->append_block( actuator_pos, n_motors, rate_mm_s, distance, auxilliary_move ? nullptr : unit_vec, acceleration )) {
         // this is the machine position
         memcpy(this->last_machine_position, transformed_target, n_motors*sizeof(float));
+        return true;
     }
 
-
-    return true;
+    // no actual move
+    return false;
 }
 
 // Used to plan a single move used by things like endstops when homing, zprobe, extruder firmware retracts etc.
-- 
2.20.1