I am currently trying to use a gShield on an Arduino Due running g2 for laser engraving. Cutting works quite well by using PWM and Spindle Speed Control for enabling/disabling the laser.

For engraving I just need a simple way to keep g2 from de-accelerating on every spindle speed change.

To my understanding this should be possible by setting SPINDLE_MODE "continuous" ( $spmo = 2 ) and SPINDLE_SPINUP_DELAY to 0

I then went ahead and generated gcode using a number of G1 movements. If no spindle speed changes are paired with the G1 commands everything runs smooth. By adding S0 / S1 to the G1 commands, the movement is stuttering (constantly accelerating and breaking for each change)

My understanding of the source code is code limited, but as far as I can tell the spindle mode is ignored for movement planning. In addition I am unable to pinpoint the lines responsible for those movements (most likely in one of the planner-files?).

I tried commenting out those mp_request_out_of_band_dwell(spindle.spinup_delay); lines, but since spindle.spinup_delay is already zero the command is already effectively a NOP.

Since I do not intent to switch tools and modes of my machine I would appreciate some help in fixing this problem even if it is just a crude workaround.

Currently running on the latest commit of the EDGE branch.