Version v1.0.1:

* Improved homing (parallel homing support, better repeatability, better geometric reference point)
 * Improved joint calibration procedure
 * Calibration data can now be stored persistently on the flash memory (no repeated calibration required)
 * Improved logging
 * added PythonAPI to control device easily

New G-Code commands:
 * Enable/Disable motors command, including pose recovery from current position on motor enable
 * Dedicated joint calibration command with save to flash option
 * Set pose command to directly set a target pose for the servo loops, bypassing the motion controller (good for real-time control)

firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp

@@ -109,10 +109,6 @@ bool KinematicModel_Delta3D::inverse(const Pose6DF& pose, float* joint_positions
     joint_positions[i] = rotor_angle_offset[i] + angle;
   }
 
- // joint_positions[0] = pose.translation.x;
- // joint_positions[1] = pose.translation.y;
- // joint_positions[2] = pose.translation.z;
-
   return true;
 }