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hi @whatdtech , In my project it works fine. maybe you need a logic analyze for rs485 communication, also you need read mostly important documents on https://www.felser.ch/profibus-manual/telegrammformate.html

@whatdtech The uart response speed of esp32 is slower than stm32/ch32v. But esp32 is dual-core. In my code, I had isolate one core to do UART communication, Otherwise, UART communication...

Hi I found a project called [G2](https://github.com/synthetos/g2), They have a wiki show a [6th order planning](https://github.com/synthetos/g2/wiki/Jerk-Controlled-Motion-Explained), And it have core code at [pnal_exec.cpp](https://github.com/synthetos/g2/blob/edge-preview/g2core/plan_exec.cpp). They use a pre define cycle time...

Hi According [this post at duet3d forum](https://forum.duet3d.com/topic/4802/6th-order-jerk-controlled-motion-planning/83), G2 use bezier curve to smooth trapezoid and it cannot control jerk in a single move. It was different with [codesys planning](https://olh.schneider-electric.com/Machine%20Expert/V1.2/en/codesys_softmotion/topics/_sm_edt_drive_general.htm), im...

Hi I have found some interesting code at [7Dof_Robot_Controller/7Dof_Elmo_Xenomai/src/mc_moveabsolute.cpp](https://github.com/suprbot/7Dof_Robot_Controller/blob/master/7Dof_Elmo_Xenomai/src/mc_moveabsolute.cpp), It seems like sin2 velocity ramp in codesys. also it was easy to transformer to struct text. I think maybe it...

Hi bad news I'm try write some code same as g2 6th order planning, i found it base the trapezoid curve and pre-calc head_time, body_time and tail_time, But when we...

Hi I have reading a long time for tinyg and g2 source code, i have not figout jerk move but just change it to acceleration move, just like marlin. For...

Hi Here is my first public version, it just contain position calc part so i can focus it. To minimize jerk jitter, only in idle or body we can change...

Hi Rinie, Thanks for your feedback, Good suggestions. Please check newest V2.0. Also this enabling bug will happen on othermode, i had patch it. Thanks.

Hi CSP Mode is design for Interpolation motion. Its easy to write some code make servo into csp mode, but its not easy to give a corrent position and velocity...