why did i even think of THAT?

Firmware/EggbotWireless/include/Executor.h

@@ -10,8 +10,6 @@
 class Executor
 {
 private:
-    unsigned long lastStsTime;
-    Status lastSts;
 public:
     Executor(/* args */);
     void execCommand(Command command);

Firmware/EggbotWireless/src/Executor.cpp

@@ -24,12 +24,6 @@ void Executor::execCommand(Command command) {
 }
 
 Status Executor::status() {
-    unsigned long reqTime = millis();
-
-    if (reqTime - lastStsTime < lastStsTTL) {
-        return lastSts;
-    }
-
     Status status;
     unsigned int curByte;
     byte rxBuffer[i2cStsBytes];
@@ -45,8 +39,5 @@ Status Executor::status() {
         }
     }
 
-    lastStsTime = millis();
-    lastSts = status;
-
     return status;
 }

Firmware/EggbotWireless/src/QueueManager.cpp

@@ -38,6 +38,7 @@ void QueueManager::loopRoutine() {
 
 void QueueManager::putCommand(std::string cmd) {
     if (!std::isalnum(cmd[0])) {
+        Serial.println("OK");
         return;
     }
 

Firmware/MotorControl/src/Pen.cpp

@@ -9,7 +9,6 @@ Pen::Pen(int pin, int posEngaged, int posDisengaged)
 void Pen::engage() {
     if (!engaged) {
         servo.attach(pin);
-        delay(5);
         servo.write(posEngaged);
         delay(200);
         servo.detach();
@@ -20,7 +19,6 @@ void Pen::engage() {
 void Pen::disengage() {
     if (engaged) {
         servo.attach(pin);
-        delay(5);
         servo.write(posDisengaged);
         delay(200);
         servo.detach();

Firmware/MotorControl/src/main.cpp

@@ -56,11 +56,26 @@ void receiveEvent(int howMany) {
 
 byte txBuffer[i2cStsBytes];
 Status sts;
-void requestEvent() { Wire.write(txBuffer, i2cStsBytes); }
+void requestEvent() {
+    if (executing || newCommand) {
+        sts.type = StatusType::WAIT;
+    } else {
+        sts.type = StatusType::NEXT;
+    }
+
+    sts.mmS = servoStepper.getPosMm();
+    sts.mmE = eggStepper.getPosMm();
+
+    sts.feedrate = curRPM;
+
+    sts.pEng = (float)pen.getEngaged();
+
+    sts.toBytes(txBuffer);
+    Wire.write(txBuffer, i2cStsBytes);
+}
 
 void execCommand(Command cmd) {
     executing = true;
-    newCommand = false;
 
     if (cmd.type == CommandType::G01 || cmd.type == CommandType::G00) {
         if (cmd.type == CommandType::G01) {
@@ -80,8 +95,7 @@ void execCommand(Command cmd) {
         if (!isnan(cmd.arg3)) {
             if (cmd.arg3 < 0) {
                 pen.engage();
-            }
-            if (cmd.arg3 >= 0) {
+            } else {
                 pen.disengage();
             }
         }
@@ -93,6 +107,7 @@ void execCommand(Command cmd) {
         adjustRPM();
     }
 
+    newCommand = false;
     return;
 }
 
@@ -138,22 +153,6 @@ void steppersRoutine() {
         if (tick % servoStepperDelay == 0) {
             servoStepper.doStep();
         }
-        if (tick % stsUpdDelay == 0) {
-            if (executing || newCommand) {
-                sts.type = StatusType::WAIT;
-            } else {
-                sts.type = StatusType::NEXT;
-            }
-
-            sts.mmS = servoStepper.getPosMm();
-            sts.mmE = eggStepper.getPosMm();
-
-            sts.feedrate = curRPM;
-
-            sts.pEng = (float)pen.getEngaged();
-
-            ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { sts.toBytes(txBuffer); }
-        }
         armed = true;
     }
     if (eggStepper.getRemainingSteps() == 0 &&