New Features
- Changes to Soft Limits and jogging
- More feedback is issued when a jog violates soft limits.
- If you are trying to jog away from a switch to allow homing, you will be limited to jogs off an active switch of the motor0 pulloff_mm length.
- Timers used by servos have been simplified and are more flexible.
- RC Servos and Solenoids each get their own timer_ms values.
- Bus servos like Dynamixel share a common update rate.
- TMC2209 Stuff
- Turned of the i_scale_analog feature. This means the pot does nothing when using UART control. The config is in complete control of the motor current.
- UART Config Examples
- The example configs were updated to the UART config style from the last release.
- SD CARD
- Changed the default speed to 8MHz. The valid range is 400kHz to 20Mhz
- Replaced Arduino Strings with C++ std:strings as part of a long-term project to reduce dependencies on the Arduino framework. This is not supposed to have any user-visible consequences
Bug Fixes
- Soft Limits & Jogging
- If you have an axes out of soft limit range, you can jog the other axes.