Step sequence optimized

gaugemqttcontinuous.py

@@ -917,21 +917,21 @@ def main():
 
             client_ref.check_msg()
 
-            moved_any = False
+            pending = []
             for i, g in enumerate(gauge_objects):
-                current_target = g._val_to_step(gauge_targets[i])
+                delta = g._val_to_step(gauge_targets[i]) - g._current_step
-                if current_target != g._current_step:
+                steps = max(-5, min(5, delta))
-                    direction = 1 if current_target > g._current_step else -1
+                pending.append(steps)
-                    steps_to_move = current_target - g._current_step
-                    steps_to_move = max(-5, min(5, steps_to_move))
-                    for _ in range(abs(steps_to_move)):
-                        g.step(direction)
-                    moved_any = True
-                    was_moving = True
 
+            moved_any = any(s != 0 for s in pending)
             if moved_any:
+                was_moving = True
                 delay_us = 1_000_000 // MICROSTEPS_PER_SECOND
-                utime.sleep_us(delay_us)
+                for tick in range(max(abs(s) for s in pending)):
+                    for i, g in enumerate(gauge_objects):
+                        if tick < abs(pending[i]):
+                            g.step(1 if pending[i] > 0 else -1)
+                    utime.sleep_us(delay_us)
             else:
                 if was_moving:
                     publish_state(client_ref)