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@grotius-cnc grotius-cnc released this 08 Dec 12:07
· 63 commits to main since this release
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Learn about vigilant mode.

gcode now includes negative feed.

Implementation of negative feed:
The ruckig trajectory can not have 0 velocity or negative velocity. So if 0 velocity is commanded it is changed to 0.001 vel.
The ruckig input for velocity is always done with the "abs(value)". This ensures a positive input value.

When a negative feed is commanded,
The target position is set to 0 of current exec gcodeblock. When targetposition 0 is reached the gcode goes back one line and the
actual position is set to the gcode blocklenght of the new gcodeline.
The reverse feed can go back the whole gcode program.

The negative feed is in fact a few lines of code.
For reference, the negative feed is also integrated in the halcore/src/hal/component/trajectory example.

Assets 3
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