Support for arcs (Delta robots only. Cartesian bots will still compile, but error at runtime when issued a G2/G3 command). Arcs must currently be < 180*.
Much improved documentation in the kinematics sections.
Machine details are exposed via functions, instead of public typedefs. This allowed for the removal of lots of otherwise unnecessary templatization.
Build system automatically detects any platform-specific *.cpp files under drivers/<platform>.
Increased DMA bus priority for more stable event timing.
drivers/<platform>
.