need Guru on duet 3 mini5 using stall guard/sensor less homing

[danielkrah]

@moth4017
this is my config and it works nice

; Configuration file for Duet 3 Mini 5+ (firmware version 3.3)
; executed by the firmware on start-up
;
; generated by RepRapFirmware Configuration Tool v3.3.10 on Mon May 02 2022 10:42:59 GMT+0200 (Mitteleuropäische Sommerzeit)

; General preferences
G90                                          ; send absolute coordinates...
M83                                          ; ...but relative extruder moves
M550 P"Bear 2.1 Duet3d mini5+"                             ; set printer name
M918 P1 E4 F2000000                          ; configure direct-connect display


; Network
M552 P192.168.178.148 S1                     ; enable network and set IP address
M553 P255.255.255.0                          ; set netmask
M554 P192.168.178.1                          ; set gateway
M586 P0 S1 C"*"                                  ; enable HTTP
M586 P1 S0                                   ; disable FTP
M586 P2 S0                                   ; disable Telnet

; Drives
M569 P0.0 S0 D3 V100                          ; x  physical drive 0.0 goes forwards
M569 P0.1 S1 D3 V100                          ; y  physical drive 0.1 goes forwards
;M569 P0.0 S0 D3 V40                          ; x  physical drive 0.0 goes forwards
;M569 P0.1 S1 D3 V40                          ; y  physical drive 0.1 goes forwards
M569 P0.2 S0 D3 V0                           ; z1 physical drive 0.2 goes forwards
M569 P0.3 S0 D3 V0                           ; z2 physical drive 0.3 goes forwards
M569 P0.4 S1 D3                              ; e  physical drive 0.4 goes forwards was d2
M584 X0.0 Y0.1 Z0.2:0.3 E0.4                 ; set drive mapping
; z axis compensation
M671 X-36.5:289.3 Y105:105 S1.75	
M350 X16 Y16 Z16 E16 I1                      ; configure microstepping with interpolation
M92 X100.00 Y100.00 Z400.00 E398.00          ; set steps per mm

;M566 X360.0 Y360.0 Z360.0 E360.0             ; set maximum instantaneous speed changes (mm/min) Worked with vibrations
;M566 X360.0 Y360.0 Z360.0 E360.0             ; set maximum instantaneous speed changes (mm/min)
M566 X900.0 Y900.0 Z60.0 E3000.0 P1             ; set maximum instantaneous speed changes (mm/min)
;M566 X900 Y900 Z60 E3000 P1
M203 X9000.00 Y9000.00 Z1800.00 E4800.00     ; set maximum speeds (mm/min)
;M203 X15000.00 Y15000.00 Z1800.00 E4800.00     ; set maximum speeds (mm/min)
M201 X2500.00 Y2500.00 Z100.00 E10000.00     ; set accelerations (mm/s^2)
;M201 X8000.00 Y8000.00 Z100.00 E10000.00     ; set accelerations (mm/s^2)
M203 X9000 Y9000 Z600 E20000 				; Sets the maximum feedrates that your machine can do in mm/min
;M203 X15000 Y15000 Z600 E20000 				; Sets the maximum feedrates that your machine can do in mm/min

;M566 X360.0 Y360.0 Z360.0 E360.0             ; set maximum instantaneous speed changes (mm/min)
;M566 X520.0 Y520.0 Z360.0 E360.0             ; set maximum instantaneous speed changes (mm/min)
;M203 X12000.00 Y12000.00 Z1800.00 E4800.00     ; set maximum speeds (mm/min)
;M201 X2500.00 Y2500.00 Z100.00 E10000.00     ; set accelerations (mm/s^2)
;M201 X3500.00 Y3500.00 Z250.00 E10000.00 
;M201 X4500.00 Y4500.00 Z250.00 E10000.00 
;M906 X920 Y990 Z800 E1050 I100               ; set motor currents (mA) and motor idle factor in per cent
M906 X920 Y1050 Z800 E1050 I100               ; set motor currents (mA) and motor idle factor in per cent
M564 H0                                                ; allow unhomed movement
M84 S30                                      ; Set idle timeout

; Axis Limits
M208 X0 Y-4 Z0 S1                            ; set axis minima
M208 X250 Y210 Z200 S0                       ; set axis maxima

; Endstops
M574 X1 S3                                   ; configure sensorless endstop for low end on X
M574 Y1 S3                                   ; configure sensorless endstop for low end on Y
M574 Z1 S2                                   ; configure Z-probe endstop for low end on Z

M915 X S30 H150 R0
;M915 Y S30 H150 R0
M915 Y S65 H150 R0



; Z-Probe
;M558 P1 C"io3.in+io3.out" H5 F120 T6000      ; set Z probe type to unmodulated and the dive height + speeds
;G31 P500 X0 Y0 Z2.5                          ; set Z probe trigger value, offset and trigger height
;M557 X15:215 Y11:195 S20                     ; define mesh grid

; Z-Probe PINDA
M574 Z1 S2 ;  Above at EndstopsSet endstops controlled by probe
;M558 P5 C"io3.in" I1 H0.7 F1000 T6000 A20 S0.005 ; PINDA
M558 P5 C"io3.in" I1 H1.0 F1000 T8000 A20 S0.005 ; PINDA H dive height old
M558 P5 C"io3.in" I1 H1.4 F1000 T8000 A20 S0.005 ; PINDA H dive height
;M558 P5 C"io3.in" I1 H1 F1000 T6000 A20  ; PINDA
;M558 P5 C"io3.in" I1 H1.5 F600 T8000 A20 S0.03    ; PINDA

M308 S2 P"temp2" A"PINDA" Y"thermistor" T100000 B3950
;G31 P1000 X23 Y5 Z0.837	                 ; PEI Sheet Offset C0.0010 S20 H2	original
;G31 P1000 X23 Y5 Z0.870	                 ; PEI Sheet Offset C0.0010 S20 H2	
;G31 P1000 X23 Y5 Z0.855	                 ; PEI Sheet Offset C0.0010 S20 H2	
;G31 P1000 X23 Y5 Z1.315 					; Textured Sheet Offset
;G31 P500 X23 Y5 Z0.630  					;trigger height Octoprint sheet
;G31 P1000 X23 Y12 Z1.130  					;trigger height Octoprint sheet
;G31 P1000 X23 Y5 Z0.738 S21 H2 T0.02                         			; Nozzle offset - Powder Coated Sheet with temperature compensation (0.02mm/°C)
;G31 P1000 X23 Y5 Z1.130 S21 H2 T0.02                         			; Nozzle offset - Zirflex.  Powder Coated Sheet with temperature compensation (0.02mm/°C)
;G31 P1000 X23 Y5 Z1.06 S21 H2 T0.02                         			; Nozzle offset - Satin Powder Coated Sheet with temperature compensation (0.02mm/°C)
;M557 X24:221 Y10:195 P3                     ; Define mesh grid
M557 X36:244 Y14:208 P5                     ; Define mesh grid
;M557 X12:220 Y5:197 P3                     ; Define mesh grid
; ##### Z-Probe Settings for PINDA 2
;M558 P5 C"io2.in" I1 H1 F1000 T6000 A3              				; Prusa PindaV2 Endstop
;M308 S2 P"temp2" A"Pinda V2" Y"thermistor" T100000 B3950      		; Prusa PindaV2 Thermistor

M376 H5																; Fade height 5mm


; Heaters
M308 S0 P"temp0" A"MK52" Y"thermistor" T100000 B4138 ; configure sensor 0 as thermistor on pin temp0
M950 H0 C"out0" T0                           ; create bed heater output on out0 and map it to sensor 0
M307 H0 B0 S1.00 R0.22                            ; disable bang-bang mode for the bed heater and set PWM limit 21s for 5 degrees
M140 H0                                      ; map heated bed to heater 0
M143 H0 S120                                 ; set temperature limit for heater 0 to 120C
M308 S1 P"temp1" A"Volcano" Y"thermistor" T100000 B4138 ; configure sensor 1 as thermistor on pin temp1
M950 H1 C"out2" T1                           ; create nozzle heater output on out2 and map it to sensor 1
M307 H1 B0 S1.00                             ; disable bang-bang mode for heater  and set PWM limit
M143 H1 S280                                 ; set temperature limit for heater 1 to 280C

; Fans
M950 F0 C"out5" Q100                          ; create fan 0 on pin out3 and set its frequency
M106 P0 C"Part Cooling" S0 H-1                               ; set fan 0 value. Thermostatic control is turned off
M950 F1 C"out6" Q500                         ; create fan 1 on pin out4 and set its frequency
M106 P1 C"Revo Fan" S255 H1 T45                            ; set fan 1 value. Thermostatic control is turned on

; Tools
M563 P0 D0 H1 F0                             ; define tool 0
G10 P0 X0 Y0 Z0                              ; set tool 0 axis offsets
G10 P0 R0 S0                                 ; set initial tool 0 active and standby temperatures to 0C

; Custom settings are not defined
M556 S100 X0,586

; Miscellaneous
M501                                         ; load saved parameters from non-volatile memory
T0        ; select first tool


; Default config.g template for DuetPi
; Replace this with a proper configuration file (e.g from https://configtool.reprapfirmware.org)

; Display initial welcome message
;M291 P"Please go to <a href=""https://www.duet3d.com/StartHere"" target=""_blank"">this</a> page for further instructions on how to set it up." R"Welcome to your new Duet 3!" S1 T0
M98 P"mksmini12864.g"
M98 P"/sys/surface.g"
;G4 S30
;M999

[moth4017]

@danielkrah
Hi are you using sensor less homing on your Z access?

[oliof]

@moth4017 oh you're asking on sensorless for Z? That's quite likely not going to work since unless you're taking special precautions a) you can't move the Z fast enough b) your print head has to be super rigid so it doesn't just flex when it hits the print bed c) you'll need a rigid print bed that doesn't care about getting hit with the weight of the full gantry.

And even then, the lack of precision on sensorless homing really doesn't make it suitable for Z.

[moth4017]

@oliof Hi i can move my Z very fast at 10000mm/s if i want too but not recommended my Z axis is on 4:1 gear box belt driven so speed not an issue. Im not homing at the print head but at the base of the printer against end stops.

[oliof]

@moth4017 the best way forward is still to add two microswitches there. If you really insist, we'd need to see some pictures of the setup and your config.g and homez.g

[moth4017]

@oliof hi set up is 3 belt drives config and homing files at stat of thread.

[oliof]

@moth4017

• H parameter in M915 should be set to the steps/mm for the Z axis which seems to be 320?
• lines 19/23 in home_max_z is probably supposed to be a G4 call, not a G1 call.
• Your M915s may need to have R0 rather than R1 (at least that's working for me).
• you could replace the acceleration changes (line 32 etc.) by defining M201.1 in config.g with the special move accelerations.
• line 41 should not be required.

[moth4017]

@oliof

Thanks for the input , tried all of your suggestions

changing the H value didnt seem to have much impact
changed the G1 to G4 ( my mistake )
R0 and R1 did try it but it should not make a difference
M201.1 it thought this had fixed it but on the 14th try failed to move front left stepper
will try tweeking a few values to see if i can make it more reliable

[oliof]

@moth4017 since your Z steppers are geared, you may run into issues there, so the H value might need to be adjusted accordingly

[moth4017]

@oliof
i have thought about the gearing but the stepper motor is still doing the same amount of steps , but the back EMF generated may happen sooner as there is more torque required, so maybe thats why the M201.1 was a little more reliable

[SputnikOC3d]

@moth4017 - whats not working ?

[moth4017]

@sputnikoc3d

Hi after a print is finished i send the Build plate to the bottom of the printer (core xy ) i have 3 Z motors belt driven.

when the bed is give the instruction to go to bed max ( gcode above) one or 2 of the motors will not be driven intermittently , sometimes this causes the Bed to fall off not ideal ..

[oliof]

that sounds like your mechanical system may have binding and is only marginally related to stall detection ... unless the binding is strong enough to trigger stall detection.

[moth4017]

@oliof

the belts and the gearbox's are very smooth running, i have built printer with ACME threads and these were very smooth but i think the belts and gear boxes could be as good or better.

Keep coming up with things i may have forgot.

did more testing tonight the M201.1 has defiantly made an improvement, played around with the H values did not seem to have any major effect other that a bigger/louder stopping noise until i went too far and didnt stall at all.

[moth4017]

more testing
drive 0 =Y
drive 1 =X
Drive 4,5,6 = Z FL FR RC

still getting stall warnings is this normal?

6/26/2022, 10:19:31 AM	=== Diagnostics ===
RepRapFirmware for Duet 3 Mini 5+ version 3.4.1 (2022-06-01 21:06:56) running on Duet 3 Mini5plus WiFi (standalone mode)
Board ID: 3R9YY-6T9RL-D65J0-40KMN-2UW2Z-RHYT0
Used output buffers: 2 of 40 (38 max)
=== RTOS ===
Static ram: 103684
Dynamic ram: 111176 of which 24 recycled
Never used RAM 23540, free system stack 128 words
Tasks: NETWORK(ready,18.0%,238) HEAT(notifyWait,0.0%,326) Move(notifyWait,0.0%,267) CanReceiv(notifyWait,0.0%,942) CanSender(notifyWait,0.0%,356) CanClock(delaying,0.0%,337) TMC(delaying,1.3%,79) MAIN(running,79.8%,388) IDLE(ready,0.0%,29) AIN(delaying,0.8%,264), total 100.0%
Owned mutexes: WiFi(NETWORK) File(MAIN)
=== Platform ===
Last reset 00:06:27 ago, cause: power up
Last software reset at 2022-06-25 20:48, reason: User, GCodes spinning, available RAM 23540, slot 1
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x00000000 BFAR 0xe000ed38 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
MCU revision 3, ADC conversions started 387552, completed 387551, timed out 0, errs 0
Step timer max interval 752
MCU temperature: min 27.6, current 28.7, max 28.9
Supply voltage: min 23.6, current 23.8, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
Heap OK, handles allocated/used 99/0, heap memory allocated/used/recyclable 2048/1206/1206, gc cycles 0
Events: 0 queued, 0 completed
Driver 0: standstill, SG min 0, read errors 0, write errors 0, ifcnt 43, reads 5457, writes 17, timeouts 0, DMA errors 0, CC errors 0
Driver 1: standstill, SG min 0, read errors 0, write errors 0, ifcnt 42, reads 5458, writes 16, timeouts 0, DMA errors 0, CC errors 0
Driver 2: standstill, SG min 0, read errors 0, write errors 0, ifcnt 9, reads 5474, writes 0, timeouts 0, DMA errors 0, CC errors 0
Driver 3: standstill, SG min 2, read errors 0, write errors 0, ifcnt 12, reads 5474, writes 1, timeouts 0, DMA errors 0, CC errors 0
Driver 4: ok, SG min 0, read errors 0, write errors 0, ifcnt 34, reads 5462, writes 12, timeouts 0, DMA errors 0, CC errors 0
Driver 5: ok, SG min 0, read errors 0, write errors 0, ifcnt 34, reads 5462, writes 12, timeouts 0, DMA errors 0, CC errors 0
Driver 6: ok, SG min 0, read errors 0, write errors 0, ifcnt 33, reads 5462, writes 12, timeouts 0, DMA errors 0, CC errors 0
Date/time: 2022-06-26 10:19:29
Cache data hit count 678579454
Slowest loop: 187.57ms; fastest: 0.07ms
=== Storage ===
Free file entries: 6
SD card 0 detected, interface speed: 22.5MBytes/sec
SD card longest read time 0.8ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 83, segments created 18, maxWait 23687ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 24, completed 23, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1, chamber heaters 2 -1 -1 -1, ordering errs 0
Heater 0 is on, I-accum = 0.2
Heater 1 is on, I-accum = 0.3
=== GCodes ===
Segments left: 0
Movement lock held by File
HTTP is doing "M290 R1 Z-0.05" in state(s) 0
Telnet is idle in state(s) 0
File is ready with "M122" in state(s) 0 0 15, running macro
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is doing "G4 S50 " in state(s) 0 0, running macro
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty
=== CAN ===
Messages queued 542, received 0, lost 0, boc 0
Longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 18 (min 18), ts 301/0/0
Tx timeouts 0,0,301,0,0,241 last cancelled message type 30 dest 127
=== Network ===
Slowest loop: 201.88ms; fastest: 0.08ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions
HTTP sessions: 1 of 8
- WiFi -
Network state is active
WiFi module is connected to access point 
Failed messages: pending 0, notready 0, noresp 3
WiFi firmware version 1.25
WiFi MAC address f0:08:d1:02:a1:0b
WiFi Vcc 3.34, reset reason Power up
WiFi flash size 2097152, free heap 27088
WiFi IP address 192.168.0.19
WiFi signal strength -61dBm, mode 802.11n, reconnections 0, sleep mode modem
Clock register 00002002
Socket states: 0 0 0 0 0 0 0 0
3PL
Drive 0 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 440
Drive 1 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 600
Drive 4 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 964
Drive 5 runs in reverse, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 576
Drive 6 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 216
6/26/2022, 10:19:07 AM	Valkyrie OK : 
Voltage OK : 23.9
6/26/2022, 10:19:05 AM	Drive 0 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 1011
Drive 1 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 67
home Z.g
6/26/2022, 10:19:03 AM	Warning: Driver 0 stalled at Z height 300.10
Drive 0 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (937.5 mm/sec), pwmScaleSum 25, pwmScaleAuto 3, pwmOfsAuto 80, pwmGradAuto 18, pos 306
Drive 1 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (937.5 mm/sec), pwmScaleSum 24, pwmScaleAuto 2, pwmOfsAuto 72, pwmGradAuto 19, pos 985
after revert back
6/26/2022, 10:19:02 AM	Drive 0 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (937.5 mm/sec), pwmScaleSum 23, pwmScaleAuto 0, pwmOfsAuto 78, pwmGradAuto 17, pos 344
Drive 1 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (937.5 mm/sec), pwmScaleSum 20, pwmScaleAuto 0, pwmOfsAuto 74, pwmGradAuto 15, pos 1016
home x
6/26/2022, 10:19:02 AM	Drive 0 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 866
Drive 1 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 95
start
Drive 0 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 866
Drive 1 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 95
stall detection setup
lower motor current
6/26/2022, 10:19:00 AM	Drive 0 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (937.5 mm/sec), pwmScaleSum 18, pwmScaleAuto 0, pwmOfsAuto 67, pwmGradAuto 19, pos 600
Drive 1 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (937.5 mm/sec), pwmScaleSum 20, pwmScaleAuto 0, pwmOfsAuto 73, pwmGradAuto 17, pos 248
after revert  back
6/26/2022, 10:18:59 AM	Warning: Driver 0 stalled at Z height 300.10
6/26/2022, 10:18:56 AM	lower motor current
Drive 0 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (937.5 mm/sec), pwmScaleSum 18, pwmScaleAuto 0, pwmOfsAuto 72, pwmGradAuto 15, pos 504
Drive 1 runs forwards, active low enable, timing fast, mode stealthChop, ccr 0x00053, toff 3, tblank 0, tpwmthrs 10 (937.5 mm/sec), pwmScaleSum 21, pwmScaleAuto 0, pwmOfsAuto 73, pwmGradAuto 16, pos 344
Home Y
6/26/2022, 10:18:55 AM	M32 "0:/gcodes/Body50_0.2mm_PLA__1h44m.gcode"
File 0:/gcodes/Body50_0.2mm_PLA__1h44m.gcode selected for printing
Home All.g 
Home Y
Drive 0 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 504
Drive 1 runs forwards, active low enable, timing fast, mode spreadCycle, ccr 0x00053, toff 3, tblank 0, hstart/hend/hdec 5/0/0, pos 88
stall detection setup
6/26/2022, 10:18:38 AM	after revert back

[oliof]

if you have stall detection enabled, you may get stall warnings, that's normal. I tend to get them during prints on Z when I do fast Z hops because the sudden stop during those moves also generates back emf.

[moth4017]

@oliof
thanks, that's interesting to know, ive mainly seen them on Z axis , but have also seen them on X too now and again.

i suppose i could set a new sensitivity (S parameter) at the end of the homing routines .

[moth4017]

@oliof @dc42

Ok i have noticed this:-
hit the "emergency stop " button and all i run is "max z home. g" Macro as above , but its always motor 0.4 that doesn't move.
if i switch on the printer (mains on) in the config i run the same macro "max z home. g" and its motor 0.4 that doesn't move .

this seems to happen 100% of the time well i did 20 tests and it happened each time.

so here is where its gets a bit odd, i swapped stepper motor wiring 4 and 6 , re did config so the stepper motor order in M584 was in the correct order again , but now its stepper motor 0.6 playing up.
so could this be a software issue as it always seems to be the first stepper in the M584 list , or just coincidence?

[fcwilt]

@moth4017 said in need Guru on duet 3 mini5 using stall guard/sensor less homing:

No more Gurus out there playing with the Duet 3 mini5 tmc2209

I setup homing via stalling and it worked. Compared to an actual endstop sensor it made quite a thump.

I quickly installed actual endstop sensors.

I don't like thumps.

Frederick

[oliof]

@moth4017 since you swapped the wiring as well it's hard to say.