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@ -104,8 +104,25 @@ wait_for_stop(polling_interval_ms, disable_callbacks)
set_max_acceleration(linear_accel, angular_accel)
set_servo_parameter(pos_kp, pos_ki, vel_kp, vel_ki, vel_filter_tc)
```
## ✨ Firmware v1.0.4
## ✨ Firmware v1.0.1
Firmware 1.0.4 comes with many smaller improvements and bugfixes and a great new feature as well:
- **Tools**: Tool usage (for example for laser engraving) is now supported on the two GPIO pins of J5 on the pcb.
They are integrated into the planner and run fast and with correct timing when executing g-code.
The tools support PWM (using the PIO feature to squeeze out extra channels without relying on software PWM).
Example usage:
```
`M3 T0 S0.7` // set pwm output of tool 0 to 70%
`G4 S0.001` // dwell command (or any other motion command) - necessary to apply the tools output
```
- **Calibration**: Calibration has now some addition error checks to improve error reporting of potential problems like encoder alignment.
- **Kinematic Model Parameter**: Initialization code has been cleaned up and better comments where added to the parameters. Parameters are preset for HW v4.0 but you can toggle back to the old HW-v3.0 parameters if necessary.
- **Bugfixes**: smaller bugfixes
## Firmware v1.0.1
This update improves calibration, homing, logging, and adds several new G-Code commands.
@ -191,6 +208,7 @@ The client must wait for an acknowledgment from the previous command before send
| `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds |
| `G24 X Y Z A B C` | Directly set current pose for servo loops with optional rotation vector* `A`, `B`, `C`. |
| `G28 A-F` | Home one or more joints. <br>• Optional joint selection `A`–`F`. |
| `M3` | Set Tool output. <br>• `T`: tool index <br>• `S`: output value (0.0..1.0) <br> Note: new values is only applied on the next motion or dwell command |
| `M17` | Enable motors and read current pose as the start pose. |
| `M18` | Disable motors. |
| `M50` | Get current internal pose. (Encoders are not read here) |