kopia lustrzana https://github.com/evil-mad/EggBot
Merge branch 'feature/EBF_v3.0.0' into feature/EBF_v3.0.0_CmdDiff
# Conflicts: # docs/ebb.htmlpull/227/head
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docs/ebb.html
|
|
@ -116,19 +116,19 @@
|
|||
<h2><a name="introduction"></a>Introduction to the EBB firmware</h2>
|
||||
|
||||
<p>
|
||||
The documentation on this page is for the to EiBotBoard Firmware v3.0.0 and above. If you are using an older version of the firmware (most likely in the 2.0 series), please refer to the <a href="ebb2.html">EBB 2.8.1 documentation</a> which documents prior syntax and prior changes to the syntax between versions.
|
||||
The documentation on this page is for the to EiBotBoard Firmware v3.0.0 and above. If you are using an older version of the firmware (most likely in the 2.0 series), please refer to the <a href="ebb2.html">EBB 2.8.1 documentation</a> which documents prior syntax and prior changes to the syntax between versions (for versions prior to EBB 3.0). Individual command descriptions in this document may note changes between EBB 2.8.1 and 3.0, but generally do not describe version history prior to 2.8.1.
|
||||
</p>
|
||||
<p>
|
||||
The EBB firmware was originally based on the UBW firmware. Its <a href="http://www.schmalzhaus.com/UBW/Doc/FirmwareDDocumentation_v145.html">command documentation</a> has an introduction to the UBW command processing framework, but this stand-alone document does not refer to it further.
|
||||
</p>
|
||||
<p>
|
||||
Although the EBB firmware is a continuously evolving code base, we have, since version 2.0.1, taken care to avoid compatibility changes that would affect the most common machines using the EBB: The AxiDraw, EggBot, and WaterColorBot. If you are using one of these machines, there is generally no particular benefit or compelling reason for you to <a href="https://wiki.evilmadscientist.com/Updating_EBB_firmware">update your firmware</a> to a newer version. (Older machines with older firmware will continue to work just fine with that older firmware.)
|
||||
Although the EBB firmware is a continuously evolving code base, we have, since version 2.0.1, taken care to minimize compatibility changes that would affect the most common machines using the EBB: The AxiDraw, EggBot, and WaterColorBot. If you are using one of these machines and it is working well for you, there is generally no requirement to <a href="https://wiki.evilmadscientist.com/Updating_EBB_firmware">update your firmware</a> to a newer version.
|
||||
</p>
|
||||
<p>
|
||||
There are, of course, many <a href="EBBReleaseNotes.html">smaller changes</a> in the code between the versions on older EBB firmware and the latest versions. If you are developing new applications with the EBB, we do encourage you to update to the newest version. On the other hand, if you are writing new software that targets machines of various ages (for example, new EggBot software), please be aware that many of the machines out there are still using older firmware revisions.
|
||||
There are, of course, many <a href="EBBReleaseNotes.html">smaller changes</a> in the code between the versions on older EBB firmware and the latest versions. If you are developing new applications with the EBB, we encourage you to update to the newest version. On the other hand, if you are writing new software that targets machines of various ages (for example, new EggBot software), please be aware that many of the machines out there are still using older firmware revisions.
|
||||
</p>
|
||||
<p>
|
||||
As we will note in the next section, EBB firmware v3.x labels a <i>transitional</i> version between the v2.x syntax and any future syntax. While it maintains significant compatibility for existing applications that use the EBB (with firmware 2.x), it also introduces changes for compatibility with a possible future syntax. These changes include deprecations of some commands and queries. There is also a new "unified" syntax -- disabled by default -- for responses to commands and queries. Enabling this syntax allows one to develop or adapt programs that use the EBB for future compatibility.
|
||||
As we will note in the next section, EBB firmware v3.x labels a <i>transitional</i> version between the v2.x syntax and planned future v4.x syntax. While it maintains compatibility for existing applications that use the EBB (with firmware 2.x), it also introduces changes for compatibility with the 4.x syntax. These include deprecations of some commands and queries. There is also a new "unified" syntax -- disabled by default -- for responses to commands and queries. Enabling this syntax allows one to develop or adapt programs that use the EBB for future compatibility with EBB firmware v4.0.
|
||||
</p>
|
||||
|
||||
|
||||
|
|
@ -139,33 +139,55 @@
|
|||
<h2><a name="version_differences"></a>Major Changes in Firmware v3.0</h2>
|
||||
|
||||
<p>
|
||||
EBB firmware v3.x is a transitional series introducing new features, optional in v3.x, which will become standard in a future version, and deprecating some commands and queries.
|
||||
EBB firmware v3.x is a transitional series introducing new features, optional in v3.x, which will become standard in v4.0, and deprecating some commands and queries. If you are updating a custom application that uses the EBB firmware and are migrating it from a pre-3.0 version, please read this section carefully as it does describe potentially breaking changes.
|
||||
</p>
|
||||
<p>
|
||||
The most important change is the introduction of a <b>future syntax mode</b>, which is off by default, and which can be enabled by the command <a href="#CU"><code>CU,10,1</code></a>. Future syntax mode does not change the syntax that is used to send commands or queries to the EBB; it changes the format of <i>responses</i> to commands and queries. With future syntax mode enabled, these responses will use the format that is planned for a future firmware version, rather than the default "legacy" response format. The legacy response format will be removed in the future firmware, and should be considered to be deprecated.
|
||||
The most important change is the introduction of a <b>future syntax mode</b>, which is off by default, and which can be enabled by the command <a href="#CU"><code>CU,10,1</code></a>. Future syntax mode does not change the syntax that is used to send commands or queries to the EBB; it changes the format of <i>responses</i> to commands and queries. With future syntax mode enabled, these responses will use the format that is planned for firmware v4.0 and higher, rather than the default "legacy" response format. The legacy response format will be removed in firmware v4.0, and should be considered to be deprecated. (See notes on the <code><a href="#CU">CU</a></code> command.)
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The following three queries have been deprecated as of EBB firmware v3.0, and will be removed in a future firmware version. They are functional,
|
||||
but should be migrated to use <a href="#QG">QG</a> (Query General) instead.
|
||||
<ul>
|
||||
<li><a href="#QB">QB</a> — Query Button</li>
|
||||
<li><a href="#QM">QM</a> — Query Motors</li>
|
||||
<li><a href="#QP">QP</a> — Query Pen</li>
|
||||
</ul>
|
||||
The following are potentially breaking changes in the command and structure, and commands:
|
||||
<ul>
|
||||
<li><code><a href="#QG">QG</a></code> — Query General. The meanings of bits 6 and 7 has changed.</li>
|
||||
<li><code><a href="#S2">S2</a></code> — General RC Servo Output.</li> Maximum number of simultaneous RC servo outputs reduced from 24 to 8.
|
||||
<li>
|
||||
<code><a href="#PC">PC</a></code>,
|
||||
<code><a href="#PG">PG</a></code>,
|
||||
<code><a href="#T">T</a></code>, and commands removed as per <a href="https://github.com/evil-mad/EggBot/issues/216">issue #216</a></li>
|
||||
</ul>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The following three commands and queries have been deprecated as of EBB firmware v3.0, and will be removed in the future firmware version. They are functional,
|
||||
but applications that use them should be migrated to use <a href="#SL">SL</a> and <a href="#QL">QL</a> instead.
|
||||
<ul>
|
||||
<li><a href="#ND">ND</a> — Node count Decrement</li>
|
||||
<li><a href="#NI">NI</a> — Node count Increment</li>
|
||||
<li><a href="#QN">QN</a> — Query Node count</li>
|
||||
</ul>
|
||||
The following commands and queries have been deprecated as of EBB firmware v3.0, and will be removed as of EBB firmware v4.0. They are functional,
|
||||
but should be migrated to use suggested alternatives instead.
|
||||
<ul>
|
||||
<li><code><a href="#QB">QB</a></code> — Query Button. <i>Migrate to:</i> <code><a href="#QG">QG</a></code>. </li>
|
||||
<li><code><a href="#QM">QM</a></code> — Query Motors. <i>Migrate to:</i> <code><a href="#QG">QG</a></code>.</li>
|
||||
<li><code><a href="#QP">QP</a></code> — Query Pen. <i>Migrate to:</i> <code><a href="#QG">QG</a></code>.</li>
|
||||
<li><code><a href="#ND">ND</a></code> — Node count Decrement. <i>Migrate to:</i> <code><a href="#SL">SL</a></code></li>
|
||||
<li><code><a href="#NI">NI</a></code> — Node count Increment. <i>Migrate to:</i> <code><a href="#SL">SL</a></code></li>
|
||||
<li><code><a href="#QN">QN</a></code> — Query Node count. <i>Migrate to:</i> <code><a href="#QL">QL</a></code></li>
|
||||
<li><code><a href="#I">I</a></code> — Input (digital). <i>Migrate to:</i> <code><a href="#PI">PI</a></code></li>
|
||||
<li><code><a href="#O">O</a></code> — Output (digital). <i>Migrate to:</i> <code><a href="#PO">PO</a></code></li>
|
||||
</ul>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Please see the <a href="EBBReleaseNotes.html">release notes</a> for additional information about differences between versions.
|
||||
Additional deprecated commands that will be removed as of firmware v4.0:
|
||||
<ul>
|
||||
<li><code><a href="#A">A</a></code> — Analog value get</li>
|
||||
<li><code><a href="#AC">AC</a></code> — Analog configure</li>
|
||||
<li><code><a href="#CU">CU,1</a></code> — Legacy syntax</li>
|
||||
</ul>
|
||||
</p>
|
||||
|
||||
|
||||
|
||||
<p>
|
||||
Please see the <a href="EBBReleaseNotes.html">release notes</a> for additional information about differences between versions.
|
||||
</p>
|
||||
|
||||
|
||||
<p />
|
||||
<hr />
|
||||
<p />
|
||||
|
|
@ -264,7 +286,7 @@
|
|||
<li><a href="#QC">QC</a> — Query Current</li>
|
||||
<li><a href="#QE">QE</a> — Query motor Enables and microstep resolutions</li>
|
||||
<li><a href="#QG">QG</a> — Query General</li>
|
||||
<li><a href="#QL">QL</a> — Query Layer</li>
|
||||
<li><a href="#QL">QL</a> — Query Variable</li>
|
||||
<li><a href="#QM">QM</a> — Query Motors</li>
|
||||
<li><a href="#QN">QN</a> — Query Node count</li>
|
||||
<li><a href="#QP">QP</a> — Query Pen</li>
|
||||
|
|
@ -277,7 +299,7 @@
|
|||
<li><a href="#S2">S2</a> — General RC Servo Output</li>
|
||||
<li><a href="#SC">SC</a> — Stepper and servo mode Configure</li>
|
||||
<li><a href="#SE">SE</a> — Set Engraver</li>
|
||||
<li><a href="#SL">SL</a> — Set Layer</li>
|
||||
<li><a href="#SL">SL</a> — Set Variable</li>
|
||||
<li><a href="#SM">SM</a> — Stepper Move</li>
|
||||
<li><a href="#SN">SN</a> — Set Node count</li>
|
||||
<li><a href="#SP">SP</a> — Set Pen State</li>
|
||||
|
|
@ -340,7 +362,7 @@
|
|||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">This command is depreciated in v3.0.0:</span>
|
||||
It will continue to work up until a future firmware version but the plan is to remove it in that future version.
|
||||
It will continue to work up until v4.0.0, but the plan is to remove it in v4.0.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -372,7 +394,7 @@
|
|||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">This command is depreciated in v3.0.0:</span>
|
||||
It will continue to work up until a future firmware version but the plan is to remove it in that future firmware version.
|
||||
It will continue to work up until v4.0.0, but the plan is to remove it in v4.0.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -395,14 +417,6 @@
|
|||
Once in bootloader mode, the EBB will not be able to communicate using the same USB serial port method that the normal firmware commands use. A special bootloader PC application (that uses USB HID to communicate with the bootloader on the EBB) must be run in order to upload new firmware HEX files to the EBB.
|
||||
</p>
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span>
|
||||
Added in v1.9.5.
|
||||
<p>
|
||||
This command will ONLY work if you have a EBB bootloader version later than 7/3/2010 (the version released on 7/3/2010 has a distinct LED blink mode - the USB LED
|
||||
stays on 3 times longer than the USR LED). With a previous version of the bootloader code, this command may cause the EBB to become unresponsive.
|
||||
</p>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -454,10 +468,6 @@
|
|||
<p>This command zeroes out (i.e. clears) the global motor 1 step position and global motor 2 step position.</p>
|
||||
<p>See the <code><a href="#QS">QS</a></code> command for a description of the global step positions.</p>
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span>
|
||||
<p>Added in v2.4.3</p>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -586,7 +596,7 @@
|
|||
<li>
|
||||
<i>Param_Number</i> = 10 : <b>Enable Future Syntax Mode</b>
|
||||
<p>
|
||||
When enabled, <b>future syntax mode</b> changes the response sent after each command or query to have a relatively consistent format. (This syntax is said to be "future syntax" because it is the formatting that will be default in a future firmware version.)
|
||||
When enabled, <b>future syntax mode</b> changes the response sent after each command or query to have a relatively consistent format. (This syntax is said to be "future syntax" because it is the formatting that will be default as of EBB firmware v4.0.)
|
||||
</p>
|
||||
<p>
|
||||
When the EBB boots up, future syntax mode is disabled; which we can abbreviate as being in <b>legacy syntax mode</b>. Legacy syntax mode <i>does not</i> have a consistent pattern of responses nor line endings in those responses. However, it is backward compatible with previous EBB firmware versions.
|
||||
|
|
@ -749,11 +759,10 @@
|
|||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span>
|
||||
<p><code>CU,3,0</code> and <code>CU,3,1</code> were added in v2.8.1</p>
|
||||
<p><code>CU,50</code>, <code>CU,51</code>, <code>CU,52</code>, <code>CU,53</code>, <code>CU,250</code> through <code>CU,257</code> were added in v3.0.0</p>
|
||||
</li>
|
||||
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>CU,1</code> is deprecated as of EBB firmware v3.0 and will be removed in a future firmware version. <code>CU,10</code> will be allowed, but will have no effect in that future firmware version. (What is now "future" syntax will be the default syntax in that future firmware version.)</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>CU,1</code> is deprecated as of EBB firmware v3.0 and will be removed in EBB firmware v4.0. <code>CU,10</code> will be allowed, but will have no effect, as of EBB firmware v4.0. (What is now "future" syntax will be the default syntax as of v4.0.)</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -969,7 +978,7 @@
|
|||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">This command is depreciated in v3.0.0:</span>
|
||||
It will continue to work up until a future firmware version but the plan is to remove it in that future firmware version.
|
||||
It will continue to work up until v4.0.0, but the plan is to remove it in v4.0.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -1114,7 +1123,7 @@
|
|||
<span style="font-weight: bold;">Version History:</span> Added in firmware v2.7.0.
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span> As of firmware v3.0.0, using a negative number for either <i>Rate</i> argument to control motion direction is depreciated. It will still work, but this functionality has been replaced by using a negative number to either <i>Step</i> argument. In a future version the ability to use negative <i>Rate</i> arguments will be removed.
|
||||
<span style="font-weight: bold;">Version History:</span> As of firmware v3.0.0, using a negative number for either <i>Rate</i> argument to control motion direction is depreciated. It will still work, but this functionality has been replaced by using a negative number to either <i>Step</i> argument. In version v4.0.0 the ability to use negative <i>Rate</i> arguments will be removed.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -1156,19 +1165,19 @@
|
|||
This command is extremely similar to the <code><a href="#LM">LM</a></code> command. In fact, if both <i>Jerk1</i> and <i>Jerk2</i> are zero, this command is exactly <code><a href="#LM">LM</a></code> command. The difference is in the addition of the two jerk parameters. When there are non-zero values for the jerk parameters, an additional step before step 1 (see the 'Methods and consequences' section in the <code><a href="#LM">LM</a></code> command description) adds the jerk term to the accel term.
|
||||
</p>
|
||||
<p>
|
||||
[[ TO BE FILLED IN ]]
|
||||
[[ coming soon ]]
|
||||
</p>
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Example 1:</span>
|
||||
<p>
|
||||
[[ TO BE FILLED IN ]]
|
||||
[[ coming soon ]]
|
||||
</p>
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Example 2:</span>
|
||||
<p>
|
||||
[[ TO BE FILLED IN ]]
|
||||
[[ coming soon ]]
|
||||
</p>
|
||||
</li>
|
||||
</ul>
|
||||
|
|
@ -1311,7 +1320,7 @@
|
|||
<p>See the <code><a href="#QN">QN</a></code> command for a description of the node counter and its operations.</p>
|
||||
</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> Added in v1.9.5</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>ND</code> is deprecated as of EBB firmware v3.0 and will be removed in a future version. It is recommended to use <a href="#SL">SL</a>/<a href="#QL">QL</a> instead.</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>ND</code> is deprecated as of EBB firmware v3.0 and will be removed in EBB firmware v4.0. It is recommended to use <a href="#SL">SL</a>/<a href="#QL">QL</a> instead.</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -1329,7 +1338,7 @@
|
|||
<p>See the <code><a href="#QN">QN</a></code> command for a description of the node counter and its operations.</p>
|
||||
</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> Added in v1.9.5</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>NI</code> is deprecated as of EBB firmware v3.0 and will be removed in a future version. It is recommended to use <a href="#SL">SL</a>/<a href="#QL">QL</a> instead.</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>NI</code> is deprecated as of EBB firmware v3.0 and will be removed in EBB firmware v4.0. It is recommended to use <a href="#SL">SL</a>/<a href="#QL">QL</a> instead.</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short"/>
|
||||
|
|
@ -1358,7 +1367,7 @@
|
|||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">This command is depreciated in v3.0.0:</span>
|
||||
It will continue to work up until a future firmware version but the plan is to remove it in that future firmware version.
|
||||
It will continue to work up until v4.0.0, but the plan is to remove it in v4.0.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -1571,7 +1580,7 @@
|
|||
<p>One of the GPIO input pins, B0, can also be used to initiate a "button press" event. B0 is normally pulled high, but if it is taken low, then that registers as though the PRG button itself was pressed. To ensure that a "button press" is registered, ensure that B0 is pulled low for at least 40 microseconds. This "alt_prg" feature is enabled by default but can be disabled with the <code><a href="#SC">SC</a></code> command.</p>
|
||||
</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> Added in v1.9.2</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>QB</code> is deprecated as of EBB firmware v3.0 and will be removed in a future version. It is recommended to use <a href="#QG">QG</a> instead.</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>QB</code> is deprecated as of EBB firmware v3.0 and will be removed in EBB firmware v4.0. It is recommended to use <a href="#QG">QG</a> instead.</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -1756,7 +1765,7 @@
|
|||
<div style="font-weight:bold;">Bit 7: Limit Switch Triggered</div> This bit is 1 if the limit switch triggered. It will be a 0 if the Limit Switch Trigger has not fired or if the limit switch feature is disabled. If set, executing this query will clear the bit.
|
||||
</p>
|
||||
<p>
|
||||
<div style="font-weight:bold;">Bit 6: Post Lost Flag</code></div> This bit is 1 if the V+ power input has gone below <code>Power_Lost_Threshold</code> since the last time the <code>QG</code> query was executed. If set, executing this query will clear the bit. See <code>CU,60</code>.
|
||||
<div style="font-weight:bold;">Bit 6: Power Lost Flag</code></div> This bit is 1 if the V+ power input has gone below <code>Power_Lost_Threshold</code> since the last time the <code>QG</code> query was executed. If set, executing this query will clear the bit. See <code>CU,60</code>.
|
||||
</p>
|
||||
<p>
|
||||
<div style="font-weight:bold;">Bit 5: PRG — PRG Button Pressed</div> This bit will be 1 if the PRG button has been pushed since the last <code>QG</code> or <code><a href="#QB">QB</a></code> query. Otherwise it will be 0. Note that input B0 can be used to trigger a "button push" event; see the description of <code><a href="#QB">QB</a></code> for more information.
|
||||
|
|
@ -1784,7 +1793,7 @@
|
|||
</p>
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Example Return Packet (future mode):</span> <code>QE,3E<NL></code>
|
||||
<span style="font-weight: bold;">Example Return Packet (future mode):</span> <code>QG,3E<NL></code>
|
||||
<p>
|
||||
This query return value of <code>3E</code>, which corresponds to <code>0011 1110</code> in binary, indicates that RB5 and RB2 are low, the PRG button has been pressed, the pen is down, a command is being executed, Motor 1 and Motor 2 are moving, and the FIFO motion queue is empty.
|
||||
</p>
|
||||
|
|
@ -1797,7 +1806,7 @@
|
|||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
<h4><a name="QL"></a>"QL" — Query Layer</h4>
|
||||
<h4><a name="QL"></a>"QL" — Query Variable</h4>
|
||||
|
||||
<ul>
|
||||
<li><span style="font-weight: bold;">Command:</span> <code>QL[,<i>VariableIndex</i>]<CR></code></li>
|
||||
|
|
@ -1863,7 +1872,7 @@
|
|||
</p>
|
||||
</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> Added in v2.4.4</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>QM</code> is deprecated as of EBB firmware v3.0 and will be removed in a future version. It is recommended to use <a href="#QG">QG</a> instead.</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>QM</code> is deprecated as of EBB firmware v3.0 and will be removed in EBB firmware v4.0. It is recommended to use <a href="#QG">QG</a> instead.</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -1901,7 +1910,7 @@
|
|||
<span style="font-weight: bold;">Version History:</span>
|
||||
Added in v1.9.2
|
||||
</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>QN</code> is deprecated as of EBB firmware v3.0 and will be removed in a future version. It is recommended to use <a href="#SL">SL</a>/<a href="#QL">QL</a> instead.</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>QN</code> is deprecated as of EBB firmware v3.0 and will be removed in EBB firmware v4.0. It is recommended to use <a href="#SL">SL</a>/<a href="#QL">QL</a> instead.</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -1923,7 +1932,7 @@
|
|||
<li><span style="font-weight: bold;">Example Return Packet (legacy mode; default):</span> <code>1<NL><CR>OK<CR><NL></code></li>
|
||||
|
||||
<li><span style="font-weight: bold;">Version History:</span> Added in v1.9</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>QP</code> is deprecated as of EBB firmware v3.0 and will be removed in a future version. It is recommended to use <a href="#QG">QG</a> instead.</li>
|
||||
<li><span style="font-weight: bold;">Deprecation notice:</span> <code>QP</code> is deprecated as of EBB firmware v3.0 and will be removed in EBB firmware v4.0. It is recommended to use <a href="#QG">QG</a> instead.</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -2724,19 +2733,19 @@
|
|||
This command is extremely similar to the <code><a href="#LT">LT</a></code> command. In fact, if both <i>Jerk1</i> and <i>Jerk2</i> are zero, this command is exactly <code><a href="#LT">LT</a></code> command. The difference is in the addition of the two jerk parameters. When there are non-zero values for the jerk parameters, an additional step before step 1 (see the 'Methods and consequences' section in the <code><a href="#LM">LM</a></code> command description) adds the jerk term to the accel term.
|
||||
</p>
|
||||
<p>
|
||||
[[ TO BE FILLED IN ]]
|
||||
[[ coming soon ]]
|
||||
</p>
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Example 1:</span>
|
||||
<p>
|
||||
[[ TO BE FILLED IN ]]
|
||||
[[ coming soon ]]
|
||||
</p>
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Example 2:</span>
|
||||
<p>
|
||||
[[ TO BE FILLED IN ]]
|
||||
[[ coming soon ]]
|
||||
</p>
|
||||
</li>
|
||||
</ul>
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue