- NEW: User EEPROM JSON commands at EEPROM address 2000 will execute after system startup JSON
- NEW: "syseu" required to enable user EEPROM initially and after configuration change
- NEW: MTO_FPD "hom" now moves to Z0 after hitting the limit switch. Motion is over-constrained at limit switch, making it rather useless as a starting position. However, at Z0, motion constraints are much more relaxed, which makes X0Y0Z0 a great "at rest" position. If you really want to park the effector "up there", just "mov" to X0Y0Z0, then "movz" up to the limit switch position.
- NEW: MTO_FPD "prbpd" stores up to 9 Z-probe data archived by "prb"
- NEW: MTO_FPD "movrx" moves X-relative (vs. absolute)
- NEW: MTO_FPD "movry" moves Y-relative (vs. absolute)
- NEW: MTO_FPD "movrz" moves Z-relative (vs. absolute)
- NEW: MTO_FPD "mov:{a,d}" move in XY plane to polar coordinate
dmillimeters from X0Y0 atadegrees CCW from x-axis. - NEW: "sysas" configuration auto-sync to EEPROM
- NEW: "sysch" configuration hash (changes when configuration changes)
- NEW: "sysah" auto-home on startup
- NEW: "idl" idle for given milliseconds
- NEW: "cmt" comment (ignored)
- NEW: "msg" write message line to serial
- NEW: "sysom:1" output mode option shows individual responses from JSON command arrays
- NEW: "sysom:2" writes out comments
- NEW: "sysom" bit values can be OR'ed together (e.g., sysom:3)
- NEW: status display now indicates EEPROM reading/writing (NeoPixel blue)
- NEW: "mov" scaled by 2 for memory savings
- NEW: "eep!" executes value as JSON command before saving it to EEPROM (great way to save config)
- NEW: DeltaCalculator support
- NEW: "systo" changes machine topology (0:MTO_RAW, 1:MTO_FPD)
- NEW: MTO_FPD "mov" interprets x,y,z attributes as cartesian coordinates
- NEW: MTO_FPD "mov" interprets x,y,z attributes as cartesian coordinates
- NEW: MTO_FPD "mpo" interprets x,y,z attributes as cartesian coordinates
- FIX: NeoPixel displays uses millis() instead of ticks and no longer freezes with extended use
- NEW: "sysps" display status pin (e.g., NeoPixel) is soft configurable
- NEW: "sysmv" maximum stepper velocity (default: 12800 pulses/second)
- NEW: "systv" time to maximum stepper velocity (default: 0.7 microseconds)
- NEW: "prbsd" probe search delay (default: syssd)
- NEW: "prbip" probe invert logic (default: false)
- FIX: [command array] now processes homing commands correctly
- FIX: "prb" returns STATUS_PROBE_FAILED on non-contact
- NEW: "prb" command probes to specified coordinate, testing given pin
- NEW: "sd" search delay consolidated from individual axes into common "syssd"
- CHANGE: "syssd" defaults to 800us for each homing/probing calibration pulse
- CHANGE: "syshp" defaults to 3 for coarse homing speed
- NEW: homing pulses synchronized for smoothness
- NEW: "syshp" configures homing pulses, which controls homing speed
- NEW: homing pulses reduced from 32 to 8
- NEW: latchBackoff is now universal instead of per axis (i.e., "syslb")
- NEW: "hom" now double checks at a slower speed for higher accuracy
- NEW: latchBackoff default is now 200 vs 32 pulses
- FIX: renamed Libraries to libraries as per Arduino standards
- FIX: homing will now ignore axes with no minimum limit switch
- MERGE: Neil's changes for OpenPnP support and full EMC02 setup
- FIX: direction pin cache did not track configuration direction inversion
- FIX: stepper enabled flag now matches actual enable pin value on startup.
- FIX: steppers disabled/enabled during pin configuration change
- EEPROM read/write
- EEPROM startup command
- io for digital/analog pins
- remove idle whine
- fix for individual axis homing bug
- JSON command array
- dvs scale now supported
- EMC02 pins corrected
- Travel minimum default is now -32000 since FirePick Delta has negative homing coordinate
- Initial release