Strengths
The strengths of the firmware are as follows:
- Motor Synchronization: The firmware can control up to 5 stepper motors synchronously
- Homing: The firmware is compatible with all axes homing. It has an homing offset to move the nozzle orientation based on the encoder wheel offset from the homing location
- Extend G-code feature: The firmware has been modified to ensure all G-codes are compatible with the new degree of freedom
- Offset settings: The firmware has an offset setting which can be used to define the nozzle offset for different printers
Weaknesses
The weaknesses of the firmware subsystem are as follows:
- Speed: The computations are performed with long data types which take a lot of processing power. The usage of the ISR is now very critical and any further computations added in future will result in errors in the print process.
Reading G-code: If the print speed is increased by 10 folds then the firmware might fail reading a few G-code lines resulting in printing errors.