From d0ec2a71e52df9c0213174b09187c68acdfbae35 Mon Sep 17 00:00:00 2001 From: 0x23 Date: Sun, 31 Aug 2025 10:43:26 +0200 Subject: [PATCH] Update README.md --- README.md | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/README.md b/README.md index 94f42d8..90ac578 100644 --- a/README.md +++ b/README.md @@ -54,3 +54,25 @@ It implements path planning with look-ahead and unlike many other motion control Image 1 Image 2 + +### ⚙ 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.
• `X`: target position on X-axis
• `Y`: target position on Y-axis
• `Z`: target position on Z-axis
• `F`: feed rate (movement speed) | +| `G1 X Y Z F` | Same as `G0`. | +| `M204 L A` | Set current acceleration.
• `L`: linear acceleration (m/s²)
• `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. | + + + +