Hi! I have a feature request.

I would love if spindles could be defined that output a RC servo signal instead of a 0-100% duty cycle PWM. I'm using a brushless motor as a spindle, and I'm sure you've seen on the internet that I am not alone in doing so. Right now I'm controlling it using the M280 command, but this does not translate from RPM and is not compatible with any standard post-processor for CAM softwares. Also: Servos can not be defined as tools, which has implications when trying to implement a toolchanger which I plan to do.

For syntax, I suggest M950 C"pin" Rnn S Laaa:bbb

Where a naked S without a value indicates that the spindle should use a servo signal. Admittedly this in inconsistent with the current definition of M950 which does not allow having S and R in the same line, but perhaps that is acceptable. If possible it would also make sense for aaa and bbb to allow negative values, to intuitively define counter-clockwise rotation. Adding the Q parameter to this line should probably produce an error, unless the current servo implementation supports different frequencies?

Expected behavior:

M950 C"outputpin" R1 S L-10000:10000 

should define spindle1 using servo signal on outputpin with max rpm 10000 in both directions.

M563 P1 R1 

should define this spindle as as tool 1.

M5

should set active spindle to 0 rpm as interpolated between aaa and bbb (in this example outputpin to 1,5 ms pulse length). But not define rpm to 0 as interpreted by M3 or M4. Issuing an M3 or M4 without the S parameter after having issued an M5 should make the spindle resume last used RPM. I'm not entirely sure what the G-code standards say about toolchanges in this context, if the tool has changed (and/or the active spindle has changed), should the new tool/spindle inherit the last used RPM? I think it should, if you want another speed you should actively command this by including the S-parameter.

M3 S"5000"

should make outputpin generate 1,75 ms pulse length

M4 S"5000"

should make outputpin generate 1,25 ms pulse length

It may be wise to have the M950 command always initiate the output to 0 rpm upon define, to make sure that a connected ESC if powered intiatites properly and does not move. Alternatively it could be a recommendation in the G-code manual to always issue an M5 command directly after the define, but this would imply the M5 should have an additional argument to allow disabling any of the defined spindles, if there are more than one.

This may not be a high priority feature, but on the other hand since the duet can already output this type of signal I'm hoping that it's so easy to implement that it can be added pretty quickly. It would help me a lot, and I'm sure I won't be the only one to use this feature in the future.

This could also be achieved by more powerful parameters for the rpm, although it would be less user friendly. For an example, you could expand the L parameter to Laaa:AAA:bbb:BBB where aaa=minimum PRM, AAA is minimum duty cycle, bbb is max RPM, and BBB is the maximum duty cycle. If aaa and bbb also accepts negative values this would allow any type range of pwm to be defined, including 0-10v or 0-5v VFDs or industrial servo drives where 0 rpm is somewhere in the middle and they can rotate both ways. But it is important in all these cases that the M5 command outputs 0 rpm and not 0 pwm (plus pulling spindle enable pin low, if defined).

@Phaedrux

The board is more than a year old so no warranty, but regardless I went for the SBC route to just get it running. I realized version 3.3 actually uses the same SD card for SBC and standalone, and the first SD card I used was out of date. I can now connect via the SBC and the versions are matching for sure (all 3.3), so for a while I was relieved and thought I could start production again. But despite being the same version as I used last week my jobs and macros are partially broken, the code is interpreted differently.

I have macros that repeat the same job in a pattern to produce multiple parts efficiently. If I run them as a macro they will terminate after just 2 out of 25 instances the first time I run it with no error being reported. If I run the same macro again it completes the whole pattern, but the first two parts have now been run twice and may need to be scrapped. It's also a wast of time.
If I run the exact same file from the job folder it finishes 5 instances out of 25 and then will not run again because it does not clear the loop variables so they can not be reassigned.

Also all my laser jobs (I have both a milling spindle and a laser mounted) now turns on the laser on the first G0 transport of each job, leaving a long straight line across the workpiece ruining it. Subsequent G0 moves are interpreted correctly.

Plus a bunch of other less critical issues...

I know, I know, the only thing to do is to upgrade to the latest version and hope that this resolves the issues. But I really just want this to run and I don't have the time to spend on it right now and I know syntax has changed for some M-codes in config and homing macros so it won't be a quick fix. I could not imagine that the jobs and macros would be broken just by running SBC mode...

Since I'm desperate to get this working I now tried connecting it via ribbon cable and a raspberry pi 3B v1.2. I had an old SD card with the raspberry pi image on it and the raspberry pi boots up and connects to ethernet. But it does not load a DWC, and when running lsusb it does not seem to find the duet. I will admit that I'm not 100% if the Pi image and the duet have the same version number, but I'm sure they are close (possibly the Pi is 3.2.2 while duet is 3.3. Is there a way to check Pi firmware version?).

I have the duet powering the RasPi via jumper settings. It's a 3B pi with nothing else connected to it and both the duet and the Pi seem to run fine, except not communicating.

I'd still prefer having it working in standalone mode but if this is easier to fix I'll settle for that, so long as I get it running again quickly.

Results of journalctl -u duetcontrolserver -e

Apr 19 16:18:53 duet3 systemd[1]: duetcontrolserver.service: Succeeded.
Apr 19 16:18:58 duet3 systemd[1]: duetcontrolserver.service: Service RestartSec=5s expired, scheduling restart.
Apr 19 16:18:58 duet3 systemd[1]: duetcontrolserver.service: Scheduled restart job, restart counter is at 49.
Apr 19 16:18:58 duet3 systemd[1]: Stopped Duet Control Server.
Apr 19 16:18:58 duet3 systemd[1]: Started Duet Control Server.
Apr 19 16:18:58 duet3 DuetControlServer[2005]: Duet Control Server v1.1.0.5
Apr 19 16:18:58 duet3 DuetControlServer[2005]: Written by Christian Hammacher for Duet3D
Apr 19 16:18:58 duet3 DuetControlServer[2005]: Licensed under the terms of the GNU Public License Version 3
Apr 19 16:18:58 duet3 DuetControlServer[2005]: Loading settings... Done!
Apr 19 16:18:59 duet3 DuetControlServer[2005]: Initialising variables... Done!
Apr 19 16:18:59 duet3 DuetControlServer[2005]: Connecting to RepRapFirmware... Error: Duet is not available
Apr 19 16:18:59 duet3 systemd[1]: duetcontrolserver.service: Succeeded.
Apr 19 16:19:04 duet3 systemd[1]: duetcontrolserver.service: Service RestartSec=5s expired, scheduling restart.
Apr 19 16:19:04 duet3 systemd[1]: duetcontrolserver.service: Scheduled restart job, restart counter is at 50.
Apr 19 16:19:04 duet3 systemd[1]: Stopped Duet Control Server.
Apr 19 16:19:04 duet3 systemd[1]: Started Duet Control Server.
Apr 19 16:19:05 duet3 DuetControlServer[2019]: Duet Control Server v1.1.0.5
Apr 19 16:19:05 duet3 DuetControlServer[2019]: Written by Christian Hammacher for Duet3D
Apr 19 16:19:05 duet3 DuetControlServer[2019]: Licensed under the terms of the GNU Public License Version 3
Apr 19 16:19:05 duet3 DuetControlServer[2019]: Loading settings... Done!
Apr 19 16:19:05 duet3 DuetControlServer[2019]: Initialising variables... Done!
Apr 19 16:19:06 duet3 DuetControlServer[2019]: Connecting to RepRapFirmware... Error: Duet is not available
Apr 19 16:19:06 duet3 systemd[1]: duetcontrolserver.service: Succeeded.

Results of M122:

[17:15:19:033] === Diagnostics ===␊
[17:15:19:033] RepRapFirmware for Duet 3 MB6HC version 3.3 (2021-06-15 21:45:47) running on Duet 3 MB6HC v1.01 or later (SBC mode)␊
[17:15:19:033] Board ID: 08DJM-956BA-NA3TN-6J9F0-3SJ6R-1V86U␊
[17:15:19:033] Used output buffers: 1 of 40 (1 max)␊
[17:15:19:033] === RTOS ===␊
[17:15:19:033] Static ram: 150904␊
[17:15:19:033] Dynamic ram: 59980 of which 0 recycled␊
[17:15:19:036] Never used RAM 143308, free system stack 190 words␊
[17:15:19:036] Tasks: SBC(ready,4.1%,606) HEAT(delaying,0.0%,405) Move(notifyWait,0.0%,352) CanReceiv(notifyWait,0.0%,944) CanSender(notifyWait,0.0%,374) CanClock(delaying,0.0%,339) TMC(notifyWait,7.0%,93) MAIN(running,88.8%,1244) IDLE(ready,0.1%,29), total 100.0%␊
[17:15:19:036] Owned mutexes: USB(MAIN)␊
[17:15:19:036] === Platform ===␊
[17:15:19:036] Last reset 00:01:56 ago, cause: power up␊
[17:15:19:036] Last software reset at 2023-04-06 19:09, reason: User, GCodes spinning, available RAM 107800, slot 1␊
[17:15:19:036] Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a␊
[17:15:19:036] Error status: 0x00␊
[17:15:19:036] Step timer max interval 14997␊
[17:15:19:036] MCU temperature: min 31.8, current 42.4, max 42.4␊
[17:15:19:036] Supply voltage: min 28.9, current 28.9, max 28.9, under voltage events: 0, over voltage events: 0, power good: yes␊
[17:15:19:036] 12V rail voltage: min 12.1, current 12.2, max 12.3, under voltage events: 0␊
[17:15:19:036] Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0␊
[17:15:19:036] Driver 0: position 0, standstill, reads 63092, writes 11 timeouts 0, SG min/max 0/0␊
[17:15:19:036] Driver 1: position 0, standstill, reads 63092, writes 11 timeouts 0, SG min/max 0/0␊
[17:15:19:036] Driver 2: position 0, standstill, reads 63092, writes 11 timeouts 0, SG min/max 0/0␊
[17:15:19:036] Driver 3: position 0, standstill, reads 63092, writes 11 timeouts 0, SG min/max 0/0␊
[17:15:19:036] Driver 4: position 0, standstill, reads 63092, writes 11 timeouts 0, SG min/max 0/0␊
[17:15:19:036] Driver 5: position 0, standstill, reads 63092, writes 11 timeouts 0, SG min/max 0/0␊
[17:15:19:036] Date/time: 1970-01-01 00:00:00␊
[17:15:19:036] Slowest loop: 0.12ms; fastest: 0.00ms␊
[17:15:19:036] === Storage ===␊
[17:15:19:036] Free file entries: 10␊
[17:15:19:036] SD card 0 not detected, interface speed: 37.5MBytes/sec␊
[17:15:19:036] SD card longest read time 0.0ms, write time 0.0ms, max retries 0␊
[17:15:19:036] === Move ===␊
[17:15:19:036] DMs created 125, maxWait 0ms, bed compensation in use: none, comp offset 0.000␊
[17:15:19:036] === MainDDARing ===␊
[17:15:19:036] Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1␊
[17:15:19:036] === AuxDDARing ===␊
[17:15:19:036] Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1␊
[17:15:19:036] === Heat ===␊
[17:15:19:036] Bed heaters = -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1␊
[17:15:19:036] === GCodes ===␊
[17:15:19:036] Segments left: 0␊
[17:15:19:036] Movement lock held by null␊
[17:15:19:036] HTTP is idle in state(s) 0␊
[17:15:19:036] Telnet is idle in state(s) 0␊
[17:15:19:036] File is idle in state(s) 0␊
[17:15:19:036] USB is ready with "M122" in state(s) 0␊
[17:15:19:036] Aux is idle in state(s) 0␊
[17:15:19:036] Trigger is idle in state(s) 0␊
[17:15:19:036] Queue is idle in state(s) 0␊
[17:15:19:036] LCD is idle in state(s) 0␊
[17:15:19:036] SBC is idle in state(s) 0␊
[17:15:19:036] Daemon is idle in state(s) 0␊
[17:15:19:036] Aux2 is idle in state(s) 0␊
[17:15:19:036] Autopause is idle in state(s) 0␊
[17:15:19:036] Code queue is empty.␊
[17:15:19:036] === CAN ===␊
[17:15:19:036] Messages queued 583, received 0, lost 0, longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 49 (min 49), ts 583/0/0␊
[17:15:19:036] Tx timeouts 0,0,582,0,0,0 last cancelled message type 30 dest 127␊
[17:15:19:036] ␊
[17:15:19:036] === SBC interface ===␊
[17:15:19:036] State: 0, failed transfers: 1, checksum errors: 3␊
[17:15:19:036] Last transfer: 99003ms ago␊
[17:15:19:036] RX/TX seq numbers: 1/1␊
[17:15:19:036] SPI underruns 0, overruns 0␊
[17:15:19:036] Disconnects: 0, timeouts: 0, IAP RAM available 0x2c83c␊
[17:15:19:036] Buffer RX/TX: 0/0-0␊
[17:15:19:036] ok␊

@Phaedrux

I did not, but I've tried two different internet routers, connecting from two different computers, with two different ethernet cables. All of which have been verified independently to be working. So i figured it would be unlikely to make a difference. I can still try if you think it makes sense, but I'm thinking there should be other things more relevant to try. Like reflashing the firmware? Can i place the install files in the sys folder on the SD card and trigger the install via USB? Or do I need to use Bossa for this if I cant access the DWC? And can I upload the same version or would it refuse because it is not an upgrade?

Either way I'm pretty desperate to get this working within a few days, I'm using the CNC for production in my startup. The last option would be to try using an SBC setup, but this takes some work and brings me no benefit so I hope it can be avoided. Very grateful for any help I get.

@Phaedrux

As a comment: I have removed the board from the CNC to work on this issue, so no other hardware is connected to it at the moment. It is connected only via USB and ethernet.
M122 results:

[20:04:14:191] === Diagnostics ===␊
[20:04:14:191] RepRapFirmware for Duet 3 MB6HC version 3.3 (2021-06-15 21:45:47) running on Duet 3 MB6HC v1.01 or later (standalone mode)␊
[20:04:14:191] Board ID: 08DJM-956BA-NA3TN-6J9F0-3SJ6R-1V86U␊
[20:04:14:191] Used output buffers: 1 of 40 (14 max)␊
[20:04:14:191] === RTOS ===␊
[20:04:14:191] Static ram: 150904␊
[20:04:14:193] Dynamic ram: 91548 of which 0 recycled␊
[20:04:14:193] Never used RAM 111740, free system stack 190 words␊
[20:04:14:193] Tasks: NETWORK(ready,29.9%,429) ETHERNET(notifyWait,0.0%,204) HEAT(delaying,0.0%,414) Move(notifyWait,0.0%,352) CanReceiv(notifyWait,0.0%,944) CanSender(notifyWait,0.0%,374) CanClock(delaying,0.0%,343) TMC(notifyWait,0.0%,105) MAIN(running,70.1%,1131) IDLE(ready,0.0%,29), total 100.0%␊
[20:04:14:193] Owned mutexes: USB(MAIN)␊
[20:04:14:193] === Platform ===␊
[20:04:14:193] Last reset 00:02:35 ago, cause: power up␊
[20:04:14:193] Last software reset at 2023-04-06 19:09, reason: User, GCodes spinning, available RAM 107800, slot 1␊
[20:04:14:193] Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a␊
[20:04:14:193] Error status: 0x00␊
[20:04:14:193] Aux0 errors 0,0,0␊
[20:04:14:193] Step timer max interval 698␊
[20:04:14:193] MCU temperature: min 43.2, current 44.5, max 44.7␊
[20:04:14:193] Supply voltage: min 0.2, current 0.2, max 0.3, under voltage events: 0, over voltage events: 0, power good: no␊
[20:04:14:193] 12V rail voltage: min 0.1, current 0.1, max 0.2, under voltage events: 0␊
[20:04:14:193] Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0␊
[20:04:14:193] Driver 0: position 0, ok, reads 0, writes 0 timeouts 0, SG min/max not available␊
[20:04:14:193] Driver 1: position 0, ok, reads 0, writes 0 timeouts 0, SG min/max not available␊
[20:04:14:193] Driver 2: position 0, ok, reads 0, writes 0 timeouts 0, SG min/max not available␊
[20:04:14:193] Driver 3: position 0, ok, reads 0, writes 0 timeouts 0, SG min/max not available␊
[20:04:14:193] Driver 4: position 0, ok, reads 0, writes 0 timeouts 0, SG min/max not available␊
[20:04:14:193] Driver 5: position 0, ok, reads 0, writes 0 timeouts 0, SG min/max not available␊
[20:04:14:193] Date/time: 1970-01-01 00:00:00␊
[20:04:14:193] Slowest loop: 9.15ms; fastest: 0.05ms␊
[20:04:14:193] === Storage ===␊
[20:04:14:193] Free file entries: 10␊
[20:04:14:193] SD card 0 detected, interface speed: 25.0MBytes/sec␊
[20:04:14:193] SD card longest read time 3.0ms, write time 0.0ms, max retries 0␊
[20:04:14:193] === Move ===␊
[20:04:14:193] DMs created 125, maxWait 0ms, bed compensation in use: none, comp offset 0.000␊
[20:04:14:193] === MainDDARing ===␊
[20:04:14:193] Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1␊
[20:04:14:193] === AuxDDARing ===␊
[20:04:14:193] Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1␊
[20:04:14:193] === Heat ===␊
[20:04:14:193] Bed heaters = -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1␊
[20:04:14:193] === GCodes ===␊
[20:04:14:193] Segments left: 0␊
[20:04:14:193] Movement lock held by null␊
[20:04:14:193] HTTP is idle in state(s) 0␊
[20:04:14:193] Telnet is idle in state(s) 0␊
[20:04:14:193] File is idle in state(s) 0␊
[20:04:14:193] USB is ready with "M122" in state(s) 0␊
[20:04:14:193] Aux is idle in state(s) 0␊
[20:04:14:193] Trigger is idle in state(s) 0␊
[20:04:14:193] Queue is idle in state(s) 0␊
[20:04:14:193] LCD is idle in state(s) 0␊
[20:04:14:193] SBC is idle in state(s) 0␊
[20:04:14:193] Daemon is idle in state(s) 0␊
[20:04:14:193] Aux2 is idle in state(s) 0␊
[20:04:14:193] Autopause is idle in state(s) 0␊
[20:04:14:193] Code queue is empty.␊
[20:04:14:193] === CAN ===␊
[20:04:14:193] Messages queued 406, received 0, lost 0, longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 49 (min 49), ts 406/0/0␊
[20:04:14:193] Tx timeouts 0,0,406,0,0,0 last cancelled message type 30 dest 127␊
[20:04:14:193] ␊
[20:04:14:193] === Network ===␊
[20:04:14:193] Slowest loop: 0.11ms; fastest: 0.02ms␊
[20:04:14:193] Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions Telnet(0), 0 sessions␊
[20:04:14:193] HTTP sessions: 0 of 8␊
[20:04:14:203] - Ethernet -␊
[20:04:14:203] State: active␊
[20:04:14:203] Error counts: 0 0 1 0 0␊
[20:04:14:203] Socket states: 2 2 2 2 2 0 0 0␊
[20:04:14:203] ok␊

Hi! Hoping some here can help me figure this out.

I have an mb6hc running in standalone mode that was working fine very recently. Then I went away for a week, and now that I'm back I can't connect via ethernet. I've tried connecting via USB and it happily reports that ethernet is enabled, and reports both the configured IP and the actual IP (which is the same). But I can't connect to it, it doesn't even show up on the clients table on my internet router. I've tried connecting it via another router, and also directly to my computer (not sure if this would work without a crossed cable though).

The green LED on the ethernet port is mostly solid green, blinking once in a while. the other LED shows no activity whatsoever.

Where do I begin trying to fix this?

@wwak84 I'm running version 3.3 (on a 6mbhc board). I did suspect it would be possible to call files in other directories using M98 knowing the correct syntax, thanks for telling me how. Nested jobs are not so rare in CNC industry actually, but probably not many hobbyists/makers use it.

@wwak84 Adding variables to the batch job is a neat idea, I can see that being useful at some point. Although in this case I'd probably run the same parameters quite often so more likely I'll modify the macro instead when it needs changing. A slight issue I've found while trying this is that M98 only calls g code files from the macro directory, although I suppose I can place the job files there instead.

But I'm still surprised that it's not possible to have nested jobs with M32, whether I run the base program from the job directory or the macro directory it behaves differently but neither will allow me to call consecutive jobs from a single file. If using M98 and running everything from the macro folder solves it then fine by me, but it's not the behavior I would expect.

@wwak84 Thanks for the pointers, I'll look into the meta commands. It would still be nice if I could call a g-code program and have it return and continue executing. I did consider pasting the job 25 times into the same file, but that would make for one nasty file. With your suggestion at least I would only need to paste the full job code once.

Hi all!

I have my Duet3 set up as a CNC router. I'm looking to produce a large number of identical parts out of wood, so I would really like to be able to repeat a job in patterns, in this case 5x5 for a total of 25 parts per batch. With the added twist that some of them are rotated to get better material use (got a separate g-code file for this).

I'd like to think this is easily done, to call the same two G-code files repeatedly from another G-code file while changing the origin point. But I can't seem to manage this. Here's what I've tried, to only make three parts of which one is upside down:

G54 (the G54 origin is set manually, and represents the first part to be milled)
G0 Z36
G0 X0 Y0
G10 L20 P2 X-214 Y-120 Z36 (set G55 coordinates, used for the second part)
G10 L20 P3 X-177 Y0 Z36 (set G56 coordinates, used for the third part)
G54
M32 "Kanel_uppv_trimmad.g"
G55
M32 "kanel_upponer_trimmad.g"
G56
M32 "Kanel_uppv_trimmad.g"

Firstly: This doesn't work. If I run this from the Job folder in DWC, it will make only the first part and then stop. Surprisingly if I run it from the macro folder instead, it will only make the last part.

Secondly: This doesn't scale well since there are only 9 numbered origins (G54-G59.3), and I want to make 25 parts. I could still use this method if I redefine the origins as I go along, but I'd like to think there is another way. I tried G92 but the command seems fully broken on my firmware, a simple "G92 X0 Y0 Z0" does not make the current coordinates 0 in any coordinate system (neither machine coordinates nor any of the G5x).

I'm due for a firmware update either way so if anyone suggests a G92 way of doing this I suppose I could update the firmware and hope that it fixes the command, but I'd prefer to just get on with this job right now and update some other time. I know that several of the commands in my config.g have been redefined so it will take me a while to get the machine working again after the update.

Any suggestions on how to do this? Image below shows intended result.

Alright, some results. This works:

       output.print(((float) distance)/100);
       output.write('\n');

It was just the \n that was missing. I like this solution since it's very easy to read and modify the scale factor. And by using float you can have none-10 factors if you want. It does add about 1400 bytes to the program size, but that still only brings it up to 29% of total so it doesn't really matter.

Not sure though how many decimals are actually printed, since I don't have access to a ttl level serial monitor. I read something about two decimals being default in Arduino. For CNC use it is entirely possible some users would want 3 decimals.

About the machine lag, I did some more testing. if I change just one of the axis to use g0 while the other axis uses g1 I can't provoke it to start lagging. Which doesn't make sense, if I jog an axis that uses the g1 command it should still behave the same. Maybe it's just so sporadic that I can't figure it out, sometimes I can't make it lag and sometimes it's barely usable. Are G0 and G1 moves planned differently in any way? Maybe this theory is completely out of the question.

Either way it seems this is the end of my contribution, because after re-uploading the code so many times I eventually broke the micro-USB port off my arduino, traces and all. So no more updates on my pendant.