That example I made by my own. Let me explain:
With Fireware 3.X I used Python SDK and Marlin g-code commands for operating robotic arm.
So, for moving in X Y Z directions I used command like:
swift.send_cmd_sync(‘G0 X200 Y100 Z100 F5000’)
but also, as fare as I know uArm Swift pro has internal driver for operating extruder motor, so I did tried to use command like:
swift.send_cmd_sync(“M302 S0”) # Marlin command for cold extrusion
swift.send_cmd_sync(“G92 E0”) # nullify E-motor
swift.send_cmd_sync(‘G1 F5000 E10’) # move with motor E to pos 10
And everything worked fine until I did an upgrade for Fireware 4.7. Movements become super smooth but I cannot find a way how to activate and use internal driver with this firmware.
Firmware 3.x of the uarm support Marlin g-code, but the Firmware 4.x of the uarm don’t support Marlin g-code.
If you want to use Marlin g-code that you have to use the firmware 3.x.
I did understand that from the beginning.
My question is if I can use build in driver for operating stepper motor in different way (not by G-code). Maybe you can advise me to use any special method in Python or access the driver directly from build in arduino board. I very impressed about that work you did on improving movement of the arm but cannot understand why part of hardware was just leave out …
You can use our uarm controller expansion board, and then you have to write the program that drives the motor in C++, and then put the written C++ program in the uarm controller, and then trigger it offline.
You can refer to the link about the uarm controller: http://download.ufactory.cc/docs/en/uArm%20Controller_20190718.pdf