From a676071cef1aca853a3ca067aeece14e074674a6 Mon Sep 17 00:00:00 2001 From: Jasper Galvin Date: Thu, 3 Jan 2019 18:51:21 +0800 Subject: [PATCH 1/2] Update getting-started.md I was trying to work out how to enable To enable Circular position control but could only find info on discord so added here --- docs/getting-started.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/docs/getting-started.md b/docs/getting-started.md index 8b81f657..9408b23d 100644 --- a/docs/getting-started.md +++ b/docs/getting-started.md @@ -288,6 +288,9 @@ Use the `move_to_pos` function to move to an absolute position: ``` ### Circular position control + +To enabel Circular position control 'axis.controller.config.setpoints_in_cpr = True' + This mode is useful for continuos incremental position movement. For example a robot rolling indefinitely, or an extruder motor or conveyor belt moving with controlled increments indefinitely. In the regular position mode, the `pos_setpoint` would grow to a very large value and would lose precision due to floating point rounding. From 1627666cdfce8ee2f23b52dda03d100b374b633d Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Thu, 3 Jan 2019 17:00:26 -0800 Subject: [PATCH 2/2] Update getting-started.md --- docs/getting-started.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/getting-started.md b/docs/getting-started.md index 9408b23d..e0991902 100644 --- a/docs/getting-started.md +++ b/docs/getting-started.md @@ -289,7 +289,7 @@ Use the `move_to_pos` function to move to an absolute position: ### Circular position control -To enabel Circular position control 'axis.controller.config.setpoints_in_cpr = True' +To enable Circular position control, set 'axis.controller.config.setpoints_in_cpr = True' This mode is useful for continuos incremental position movement. For example a robot rolling indefinitely, or an extruder motor or conveyor belt moving with controlled increments indefinitely. In the regular position mode, the `pos_setpoint` would grow to a very large value and would lose precision due to floating point rounding.