Yes. This can be done. But shift gears a little bit... Each GCode command for movement will have a feedrate associated with it. If the feedrate is too high... the step rate of which ever axis is going to limit the movement will be used. You can probably just use the GCode's feed rate to map directly to an analog voltage. And then set the voltage to zero at the end of the movement. Marlin accelerates and de-accelerates the various axis. You could probably ignore that initially. But later once it is working some what... you could keep output new voltages as marlin accelerates the speed the carriage is going.
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