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@ -54,3 +54,25 @@ It implements path planning with look-ahead and unlike many other motion control
<img src="documentation/firmware/firmware_overview.png" alt="Image 1" width="50%">
<img src="documentation/firmware/path_planning.png" alt="Image 2" width="50%">
</div>
### ⚙ G-Code Interface
The firmware supports only a small subset of G-Code commands listed below.
Each command is acknowledged with either an **`ok`** or **`error`** response.
If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message.
The client must wait for an acknowledgment from the previous command before sending the next one — otherwise, behavior is undefined.
| Command | Description |
|----------------|-----------------------------------------------------------------------------|
| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br> • `X`: target position on X-axis <br> • `Y`: target position on Y-axis <br> • `Z`: target position on Z-axis <br> • `F`: feed rate (movement speed) |
| `G1 X Y Z F` | Same as `G0`. |
| `M204 L A` | Set current acceleration. <br> • `L`: linear acceleration (m/s²) <br> • `A`: angular acceleration (rad/s²) |
| `M50` | Get current actuator pose (position). |
| `M51` | Get motion controller and servo loop update frequency. |
| `M52` | Get the number of items in the planner queue. |
| `M53` | Check if all moves are finished. Returns `1` if finished, `0` otherwise. |