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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 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. 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 ## 🐍 NEW: Python-API
The new Python API handles all serial communication and provides convenient command execution and debug message printing. 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) 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 ## ⚙ 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. 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.