update before homing

Opentrons · Jul 27, 2023 · 685d0fb · 685d0fb
1 parent b0f5fa6
commit 685d0fb
Showing 1 changed file with 4 additions and 9 deletions.
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
@@ -1209,18 +1209,13 @@ async def _retrieve_home_position() -> Tuple[
         # G, Q should be handled in the backend through `self._home()`
         assert axis not in [Axis.G, Axis.Q]
 
+        # ensure stepper position can be updated after boot
+        await self.engage_axes([axis])
+        await self._update_position_estimation([axis])
+        # refresh motor and encoder statuses after position estimation update
         motor_ok = self._backend.check_motor_status([axis])
         encoder_ok = self._backend.check_encoder_status([axis])
 
-        # we can update the motor position if the encoder position is valid
-        if encoder_ok and not motor_ok:
-            # ensure stepper position can be updated after boot
-            await self.engage_axes([axis])
-            await self._update_position_estimation([axis])
-            # refresh motor and encoder statuses after position estimation update
-            motor_ok = self._backend.check_motor_status([axis])
-            encoder_ok = self._backend.check_encoder_status([axis])
-
         # we can move to safe home distance!
         if encoder_ok and motor_ok:
             origin, target_pos = await _retrieve_home_position()