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diff --git a/src/modules/tools/extruder/Extruder.cpp b/src/modules/tools/extruder/Extruder.cpp
index c4e3564..8e58fde 100644 (file)
--- a/src/modules/tools/extruder/Extruder.cpp
+++ b/src/modules/tools/extruder/Extruder.cpp
@@ -396,7 +396,7 @@ void Extruder::on_gcode_received(void *argument)
                 gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f\n", this->filament_diameter);
                 gcode->stream->printf(";E retract length, feedrate, zlift length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f\n", this->retract_length, this->retract_feedrate*60.0F, this->retract_zlift_length, this->retract_zlift_feedrate);
                 gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f\n", this->retract_recover_length, this->retract_recover_feedrate*60.0F);
-                gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f\n", this->acceleration);
+                gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f\n", this->acceleration);
                 gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f\n", this->stepper_motor->get_max_rate());
                 if(this->max_volumetric_rate > 0) {
                     gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f\n", this->max_volumetric_rate);
@@ -407,7 +407,7 @@ void Extruder::on_gcode_received(void *argument)
                 gcode->stream->printf(";E Filament diameter:\nM200 D%1.4f P%d\n", this->filament_diameter, this->identifier);
                 gcode->stream->printf(";E retract length, feedrate:\nM207 S%1.4f F%1.4f Z%1.4f Q%1.4f P%d\n", this->retract_length, this->retract_feedrate*60.0F, this->retract_zlift_length, this->retract_zlift_feedrate, this->identifier);
                 gcode->stream->printf(";E retract recover length, feedrate:\nM208 S%1.4f F%1.4f P%d\n", this->retract_recover_length, this->retract_recover_feedrate*60.0F, this->identifier);
-                gcode->stream->printf(";E acceleration mm/sec^2:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier);
+                gcode->stream->printf(";E acceleration mm/sec²:\nM204 E%1.4f P%d\n", this->acceleration, this->identifier);
                 gcode->stream->printf(";E max feed rate mm/sec:\nM203 E%1.4f P%d\n", this->stepper_motor->get_max_rate(), this->identifier);
                 if(this->max_volumetric_rate > 0) {
                     gcode->stream->printf(";E max volumetric rate mm³/sec:\nM203 V%1.4f P%d\n", this->max_volumetric_rate, this->identifier);
@@ -591,6 +591,7 @@ void Extruder::on_gcode_execute(void *argument)
                 this->en_pin.set(0);
             }
 
+            // NOTE this is only used in SOLO mode, but any F on a G0/G1 will set the speed for future retracts that are not firmware retracts
             if (gcode->has_letter('F')) {
                 feed_rate = gcode->get_value('F') / THEKERNEL->robot->get_seconds_per_minute();
                 if (feed_rate > stepper_motor->get_max_rate())