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@ -74,7 +74,7 @@ This update improves calibration, homing, logging, and adds several new G-Code c
- **Joint calibration**: refined procedure, persistent flash storage (no recalibration after reboot) - **Joint calibration**: refined procedure, persistent flash storage (no recalibration after reboot)
- **Logging**: clearer and more detailed output - **Logging**: clearer and more detailed output
### G-Code Commands ### New G-Code Commands
- `G28` — Home joints (supports homing multiple axis simultanously for faster startup) - `G28` — Home joints (supports homing multiple axis simultanously for faster startup)
- `G24` — Set pose command (directly sets servo targets, bypassing motion controller) - `G24` — Set pose command (directly sets servo targets, bypassing motion controller)
- `M17/M18` — Enable/Disable motors (with pose recovery from encoders on enable) - `M17/M18` — Enable/Disable motors (with pose recovery from encoders on enable)