From e3b33fbf083b533283832bb554df5595a4c2cb38 Mon Sep 17 00:00:00 2001 From: 0x23 Date: Fri, 19 Sep 2025 13:49:42 +0200 Subject: [PATCH] Update README.md --- README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 5b7894b..f72a1c8 100644 --- a/README.md +++ b/README.md @@ -148,11 +148,11 @@ The client must wait for an acknowledgment from the previous command before send | `G0 X Y Z F` | Move the end-effector in a straight line to the specified position.
• `X`, `Y`, `Z`: target positions
• `F`: feed rate | | `G1 X Y Z F` | Same as `G0`. | | `G4 S/P` | Dwell/pause for a specified time.
• `S`: seconds
• `P`: milliseconds | -| `G24 X Y Z A B C` | Directly set current pose for servo loops. Optional rotation with `A`, `B`, `C`. | +| `G24 X Y Z A B C` | Directly set current pose for servo loops. Optional rotation with rotation vector `A`, `B`, `C`. | | `G28 A-F` | Home one or more joints.
• Optional joint selection `A`–`F`. | | `M17` | Enable motors and read current pose as the start pose. | | `M18` | Disable motors. | -| `M50` | Get current internal position (X, Y, Z). | +| `M50` | Get current internal pose. (Encoders are not read here) | | `M51` | Get current encoder angles (in degrees) and raw encoder values. | | `M52` | Get the number of items in the planner queue. | | `M53` | Check if all planned moves are finished (`1` = finished, `0` = not finished). | @@ -162,6 +162,7 @@ The client must wait for an acknowledgment from the previous command before send | `M58` | Get firmware version. | | `M204 L A` | Set linear and angular acceleration.
• `L`: linear acceleration
• `A`: angular acceleration | +Note: The communication protocol uses 3D vectors for rotations. The direction represents the rotation axis and the length of the vector represents the angle of rotation around the axis. ## Youtube Video [![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)