- NEW: Increased high and low pulse times from 2us to 3us to give DRV8XXX stepper drivers more time
- FIX: Fixed low pulse time on Due, which had no delay
- NEW: DISPLAY_STATUS_SLEEP is new display status that shows rotating green LED
- NEW: Idle lighting is now camera lighting
- FIX: dvs command did not work after Reef's mova (uninitialized segment array)
- FIX: Added mock FireStep.ino file to prevent opening GitHub code in Arduino IDE
- MERGE: merge changes for DueTimer
- FIX: Arduino IDE 1.6.7
- NEW: Simplified install by including all MIT libraries in FireStep
- FIX: gear ratio (dimgr) now presented with 5 digits of precision to match eeprom
- NEW: Merged Paul's fireduino Motion Board code
- NEW: fireduino/ArduinoDue (verified by Benoit)
- NEW: MTO_FPD: "dim" now has an optional attribute "hzl" to set the post-homing Z relative to the limit switch (i.e., <= 0).
- NEW: fireduino refactor for MCU independence. No functionality change. This is the bridge release between FireStep 1.x and 2.x
- NEW: "syspu" sets pullup flags for limit switches and probe
- NEW: "iod" now has "pu" boolean attribute for INPUT_PULLUP
- NEW: MTO_FPD: "movaa" moves all arms to given angle
- NEW: MTO_FPD: {"calgr":""} sets gear ratio from arm #1 at 90 degrees https://github.com/firepick1/FireStep/wiki/Gear-Ratio
- NEW: MTO_FPD: {"pgmx":"dim-lc-200"} sets dimensions for Loose Canon FirePick Delta (200 steps/revolution steppers)
- NEW: MTO_FPD: {"pgmx":"dim-lc-400"} sets dimensions for Loose Canon FirePick Delta (400 steps/revolution steppers)
- NEW: MTO_FPD: {"pgmx":"dim-tw-200"} sets dimensions for Tin Whiskers FirePick Delta (200 steps/revolution steppers)
- NEW: MTO_FPD: {"pgmx":"dim-tw-400"} sets dimensions for Tin Whiskers FirePick Delta (400 steps/revolution steppers)
- NEW: MTO_FPD: "dim" now has an optional attribute "hz" to set the post-homing Z, which defaults to 0.
- FIX: setting any of the core dimensions (dimf, dime, dimrf, dimre) should update the delta calculator zoffset
- FIX: {"pmgx":"help"} now works
- NEW: {"pmgx":"dim-fpd-400"} support for 400 steps/rev stepper motors
- NEW: {"calho":""} sets home angle manually https://github.com/firepick1/FireStep/wiki/Delta-Home
- DOC: Added documentation for "pgmx" and "pgmd" https://github.com/firepick1/FireStep/wiki/MTO_FPD
- NEW: {"pgmx":"fpd-axis-probe"} tests z-probe repeatability
- FIX: "dimgr" read no longer overwrites gear ratios
- NEW: startup banner replaced with execution of {"id":""} command
- FIX: "dimgr1", "dimgr2", "dimgr3" now only set their individual axis gear ratio
- NEW: "sysch" output deprecated as redundant with "idch"
Bug fixes for stable release (Arduino Mega2560)
- FIX: MTO_FPD home bug (SPE rouding error)
- FIX: MTO_FPD dim bug changed home when on query (nasty!)
- FIX: valgrind PASS (no memory leaks, all values initialized)
- NEW: firestep command line unit tests added
- NEW: Serial output for completed request now ends with three character sequence
}-SPACE-LF, allowing client to distinguish final output from intermediate output. - FIX: Jason/Reef {"mov":{"a":-88}} bug
- NEW: startup "FireStep ..." text is now JSON and includes git commit
- NEW: firestep command line client
- NEW: lib_firestep.so shared library for Linux
- NEW: Infrequent attributes (sysfr, syslp, systc) moved into "dbg" group (dbgfr, dbglp, dbgtc)
- NEW: "sysv" format changed to MM.NNPP for legibility
- FIX: empty lines are now echoed so that firestep client doesn't hang
- NEW: MTO_FPD "dimspa" Sliced pulley arm critical angle
- NEW: MTO_FPD "dimspr" Sliced pulley ratio (mm/degree)
- NEW: changing "dimmi" or "dimst" will now scale associated dimensions automatically (e.g., home pulses, etc.)
- CHG: MTO_FPD "mov:{a,d}" changed to "mov:{angle,d}" move in XY plane to polar coordinate
dmillimeters from X0Y0 atangledegrees CCW from x-axis. - CHG: prb pn attribute deprecated in favor of "pb" to match "syspb"
- CHG: "sysas" configuration autoSync is no longer saved and must be enabled explicitly
- FIX: MTO_FPD single axis home (e.g., "hom1") will not reposition to origin
- FIX: "movrx" is now identified as a bad command (the correct command is "movxr")
- NEW: latch backoff is now an axis attribute (e.g. "xlb"), but you can still use "syslb" to set all axes at once.
- NEW: "calsv" provides adaptive calibration via exponential smoothing
- NEW: "calgr1" calibrate gear ratio for arm 1 at given angle in degrees
- NEW: "calgr2" calibrate gear ratio for arm 2 at given angle in degrees
- NEW: "calgr3" calibrate gear ratio for arm 3 at given angle in degrees
- FIX: static strings now stored in PROGMEM to free up SRAM
- FIX: "sys" no longer overwrites custom pin configuration on query
- NEW: "syspb" sets custom probe pin
- NEW: "dimhp" user provided home pulses
- NEW: {"pgmx":"dim-fpd"} Set default FirePick Delta dimensions
- NEW: {"pgmx":"cal-home-coarse"} Use hex probe to calibrate home angle and Z-bed plane (adaptive coarse)
- NEW: {"pgmx":"cal-home-medium"} Use hex probe to calibrate home angle and Z-bed plane (adaptive medium)
- NEW: {"pgmx":"cal-home-fine"} Use hex probe to calibrate home angle and Z-bed plane (adaptive fine)
- NEW: {"pgmx":"cal-bed-coarse"} Use hex probe to calibrate Z-bed plane (adaptive coarse)
- NEW: {"pgmx":"cal-bed-medium"} Use hex probe to calibrate Z-bed plane (adaptive medium)
- NEW: {"pgmx":"cal-bed-fine"} Use hex probe to calibrate Z-bed plane (adaptive fine)
- FIX: Jason's fix for mismatched delta configuration attributes
- FIX: querying axis will no longer disable it
- FIX: Saving MTO_FPD dimensions now saves proper values
- FIX: eTheta implementation replaced with single, common home angle
- FIX: reordered saved configuration for proper precedence on restore
- FIX: home angle digitized properly so that home angle and home pulses are in sync
- FIX: DeltaCalculator home now initialized properly from axis home
- CHG: MTO_FPD "movrx" renamed to "movxr" for consistent naming (i.e. X-Relative). Ditty with y and z.
- NEW: STATUS_WAIT_IDLE NeoPixel display shows; MTO_FPD/green, and MTO_RAW/white
- NEW: "prbd" returns last 9 probe data values, with most recent first
- NEW: "mrk" gets/sets value of one of four mark registers
- NEW: MTO_RAW "mrka1", "mrka2", "mrka3, "mrka4"" mark axis stepper position
- NEW: MTO_FPD "mrkax", "mrakay", "mrkaz" mark Cartesian axis position
- NEW: MTO_FPD "mrkwp" mark Cartesian 3-axis waypoint
- NEW: MTO_FPD "movxm", "movym", "movzm" move to marked Cartesian axis position
- NEW: MTO_FPD "movwp" move to marked Cartesian 3-axis waypoint
- 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