From 85d2655e3206b85b757c569e63a2359babb21ae8 Mon Sep 17 00:00:00 2001 From: misan Date: Thu, 28 Apr 2016 11:35:25 +0200 Subject: [PATCH] Update README.md --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index 2ce0f52..f6e4038 100644 --- a/README.md +++ b/README.md @@ -42,3 +42,9 @@ Written in Processing it allows you to see graphically the PID response to a ste #trapezoidal motion profile I reckon the evolution of this project is to offload motion profile generation off main processor. In order to do that firmware needs to be able to achieve motion in a controlled way (which is key for joint axis movement). The first and simpler idea is to use a trapezoidal motion pattern. + +New commands have been added for this feature: +F +@ +Y +The latter is to perform the actual movement to an absolute destination, measured in encoder counts, using a trapezoidal speed motion pattern. No optimization effort in the math has yet been done.