kopia lustrzana https://github.com/evil-mad/EggBot
Added detail to EM command about version differences 2.7.0 and previous wtih regards to the optional second parameter. Removed references to EBB board rev 1.1 in regards to the EM command.
EmbeddedMan
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@ -575,61 +575,24 @@ ul.no_bullets {
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<p>
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Because only <i>Enable1</i> can set the global step mode, <i>Enable2</i> simply enables or disables axis 2, and can not change the previously set step mode on its own.
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</p>
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<p>
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Note that this version of the command is for current versions of the EBB hardware, v1.2 and newer. (This includes all versions manufactured since September 2010.)
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</p>
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</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,1,0\r</code> Enable motor 1, set global step mode to 1/16th and disable motor 2</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,2\r</code> Set global step mode to 1/8 enable motor 1, and do not change motor 2's enable status. (<i>Enable2</i> is optional)</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,2,1\r</code> Set global step mode to 1/8 enable motor 1 and motor 2</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,3,3\r</code> Set global step mode to 1/4 and enable both motors.</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,0,1\r</code> Enable motor 2, disable motor 1, and continue to use previously set global step mode</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,0,0\r</code> Disable both motors (both will freewheel)</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,3,1\r</code> Enable both motors and set to 1/4 step mode</li>
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<li>
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<span style="font-weight: bold;">Version History:</span>
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<span style="font-weight: bold;">Version History:</span>
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<p>Starting with v2.8.0, this command is placed on the motion FIFO along with the other motion commands so that
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it occurs at a precise time in the motion sequence.</p>
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<p>With all versions up to and including v2.7.0, the second parameter <code><i>Enable2</i></code> was optional. If it was not included in the command the motor 2's enable would not be changed.</p>
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<p>Starting with v2.6.2, the global step counters (available with the <codea>QS</code> command) are zeroed out any time this command is executed.</p>
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</li>
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</ul>
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<hr class="short" />
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<h4>"EM" — Enable Motors (Legacy version)</h4>
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<ul>
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<li><span style="font-weight: bold;">Command:</span> <code>EM,<i>EnableAxis1</i>[,<i>EnableAxis2</i>]<CR></code></li>
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<li><span style="font-weight: bold;">Response:</span> <code>OK<CR><NL></code></li>
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<li><span style="font-weight: bold;">Firmware versions:</span> All</li>
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<li><span style="font-weight: bold;">Execution:</span> Immediate</li>
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<li>
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<span style="font-weight: bold;">Arguments:</span> For each stepper motor (<i>EnableAxis1</i> or <i>EnableAxis2</i>), an integer in the range of 0 through 4, inclusive. The allowed values and their effects are as follows:
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<ul>
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<li>0: Disable that axis (both axis disabled by default at boot)</li>
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<li>1: Enable in 1/8 step mode</li>
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<li>2: Enable in 1/4 step mode</li>
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<li>3: Enable in 1/2 step mode</li>
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<li>4: Enable in full step mode</li>
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</ul>
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</li>
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<li>
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<span style="font-weight: bold;">Description:</span>
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<p>Enable or disable stepper motors and set step size.</p>
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<p>
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Each stepper motor axis may be enabled (energized) or disabled. When disabled, the driver will stop sending current to the motor, so the motor will "freewheel" — it will not be actively driven, but instead will present little resistance to being turned by external torques.
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</p>
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<p>
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When enabled, the stepper motor axes may be configured to be in whole, half, quarter, or eighth step sizes. In a motor with a native resolution of 200 steps per revolution, these settings would produce effective stepping resolutions of 200, 400, 800, and 1600 steps per revolution, respectively. Using fine sub-steps ("microstepping") gives higher resolution at the cost of decreasing step size reproducibility.
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</p>
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<p>Note that this version of the command is only for legacy EBB hardware, v1.1. </p>
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</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,1,0\r</code> Enable Axis 1 in 1/8 step mode, and disable Axis 2</li>
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<li><span style="font-weight: bold;">Example:</span> <code>EM,2\r</code> Enable Axis 1 in 1/4 step mode, disable Axis 2</li>
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</ul>
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<hr class="short" />
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<h4><a name="ES"></a>"ES" — E Stop</h4>
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<ul>
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