Extrude and move arm at the same time, in time
Depends on #11 (closed)
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Send trajectory and monitor feedback -
Control extruder and motion simulataneously -
Extrude at fixed rate while moving -
Fix any timing issues (extrusion must start exactly/before arm movement) -
Execute multiple contours with extrusion -
Fix any extract/retract issues (these will need to be accounted for by the planner) -
Change to better extrusion method if not good enough -
Check extrusion over multiple layers -
Multiple layer print on multiple parts of the print bed (with both arms individually)