Step Rate abominably low causing layer shifts.
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@ryanrocksforever the Hangprinter uses the secondary CAN bus to configure the ODrives and to switch them into torque mode during homing. It uses standard step and direction signals from EXP1HC expansion boards to control them. Because the EXP1HC is intended to driver external drivers, the timing defaults to T2:2:2:2 which appears to be OK on the prototype Hangprinter. I don't have the ODrive manual to hand so I don't know whether it meets the worst case specifications.
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@dc42 I consulted with the odrive developers, and they said that the step pulse interval was 2 microseconds, and all other values could be zero, So my values now are T0:2:0:0 I tested this witha couple of test prints, and it seems to be working good now.