#include "arm_solutions/RostockSolution.h"
#include "arm_solutions/JohannKosselSolution.h"
#include "arm_solutions/HBotSolution.h"
+#include "StepTicker.h"
#define default_seek_rate_checksum CHECKSUM("default_seek_rate")
#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
gcode->mark_as_taken();
break;
- case 665: // M665 set optional arm solution variables based on arm solution
+ case 665: // M665 set optional arm solution variables based on arm solution. NOTE these are not saved with M500
gcode->mark_as_taken();
- // the parameter args could be any letter so try each one
+ // the parameter args could be any letter except S so try each one
for(char c='A';c<='Z';c++) {
+ if(c == 'S') continue; // used for segments per second
float v;
bool supported= arm_solution->get_optional(c, &v); // retrieve current value if supported
gcode->add_nl = true;
}
}
+ // set delta segments per second
+ if(gcode->has_letter('S')) {
+ this->delta_segments_per_second= gcode->get_value('S');
+ }
break;
-
}
}