7

- fixed HOME_X to include WRIST_TO_FINGER distance.
- corrected elbow location calc in IK
- fixed shoulder angle calc
- cleaned up variable use in IK (was using output var as temp)
- fixed G4 dwell time to work in s instead of ms.
- fixed G92 to update IK calculations
- changed M100* to turn motor one full revolution (to check for micro
stepping)
- added position & IK update to G28 (find home)

- gear ratio and micro stepping are not the numbers I expect to see
here, which troubles me.
8

added GUI to simulate, eventually connect and drive.
9

- can now fly with mouse and WASDQE (QE for up/down relative to viewing
angle)
- can now move IK along cartesian with UJIKOL
- can now move FK via motors with RFTGYH
10

- fixed step count calculations.  Was treating angle as 0…1 when it was
0…2pi.  this also fixed gear_ratio.
- fixed homing position
- changed feedrate() to set_feedrate()
- changed position() to set_position()
- hid several verbose messages
- fixed several tool offset related bugs
- added G28 and tool offset to HELLOWORLD.NGC
- started trying to add TWL to app for overlaid GUI components.
11

- Added EEPROM GUID and firmware version
-
12

- replaced LWJGL with JOGL
- removed TWL test (no support, poor documentation)
- improved visuals
- connects to two robots at once
- can drive robots with RTYFGH (move motors) or UIOJKL (IK solver)
- toggle between robots with spacebar
- can fly camera with mouse and WASDQE
- robot homes on connect
13

house cleaning
14

- first version of working collision detection and response.