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@ -19,26 +19,6 @@ A 'magnetic gearing' approach increases the resolution of the low-cost magnetic
The device can be controlled via simple G-Code commands over a USB serial interface and is thus easily integrated into other projects.
The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities.
## ✨ NEW: Firmware v1.0.1
This update improves calibration, homing, logging, and adds several new G-Code commands.
### Improvements
- **Homing**: parallel homing support, higher repeatability, more accurate geometric reference
- **Joint calibration**: refined procedure, persistent flash storage (no recalibration after reboot)
- **Logging**: clearer and more detailed output
- **Python API**: easy device control from Python
### G-Code Commands
- `G28` — Home joints (supports homing multiple axis simultanously for faster startup)
- `G24` — Set pose command (directly sets servo targets, bypassing motion controller)
- `M17/M18` — Enable/Disable motors (with pose recovery from encoders on enable)
- `M51` — Read encoder values
- `M55` — Set servo loop parameters
- `M56` — Joint calibration (with save-to-flash option)
- `M57` — Read various information about the device state
- `M58` — Read firmware version
## 🐍 NEW: Python-API
The new Python API handles all serial communication and provides convenient command execution and debug message printing.
@ -85,6 +65,26 @@ set_max_acceleration(linear_accel, angular_accel)
set_servo_parameter(pos_kp, pos_ki, vel_kp, vel_ki, vel_filter_tc)
```
## ✨ NEW: Firmware v1.0.1
This update improves calibration, homing, logging, and adds several new G-Code commands.
### Improvements
- **Homing**: parallel homing support, higher repeatability, more accurate geometric reference
- **Joint calibration**: refined procedure, persistent flash storage (no recalibration after reboot)
- **Logging**: clearer and more detailed output
- **Python API**: easy device control from Python
### G-Code Commands
- `G28` — Home joints (supports homing multiple axis simultanously for faster startup)
- `G24` — Set pose command (directly sets servo targets, bypassing motion controller)
- `M17/M18` — Enable/Disable motors (with pose recovery from encoders on enable)
- `M51` — Read encoder values
- `M55` — Set servo loop parameters
- `M56` — Joint calibration (with save-to-flash option)
- `M57` — Read various information about the device state
- `M58` — Read firmware version
## ⚙ CAD-Files
All CAD models are made in **FreeCAD** to​ allow everyone to view and modify the design without subscribing or paying for a proprietary CAD solution.