{"action":"created","comment":{"url":"https://api.github.com/repos/keyme/grbl/pulls/comments/86214578","pull_request_review_id":6883491,"id":86214578,"diff_hunk":"@@ -27,10 +27,15 @@\n #include \"motion_control.h\"\n #include \"limits.h\"\n #include \"report.h\"\n+#include \"signals.h\"\n #include \"magazine.h\"\n+#include \"nuts_bolts.h\"\n \n #define HOMING_AXIS_SEARCH_SCALAR  1.1  // Axis search distance multiplier. 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The delays compensate for settling time of the load cell and the max cycles ensure that the gripper doesn't oscillate indefinitely. Min cycles is there to make sure that the gripper tries at least twice at a slow rate after the second delay, since initially force servoing at a fast rate might cause overshoot.","created_at":"2016-11-02T18:42:36Z","updated_at":"2016-11-02T18:42:36Z","html_url":"https://github.com/keyme/grbl/pull/59#discussion_r86214578","pull_request_url":"https://api.github.com/repos/keyme/grbl/pulls/59","_links":{"self":{"href":"https://api.github.com/repos/keyme/grbl/pulls/comments/86214578"},"html":{"href":"https://github.com/keyme/grbl/pull/59#discussion_r86214578"},"pull_request":{"href":"https://api.github.com/repos/keyme/grbl/pulls/59"}}},"pull_request":{"url":"https://api.github.com/repos/keyme/grbl/pulls/59","id":92019104,"html_url":"https://github.com/keyme/grbl/pull/59","diff_url":"https://github.com/keyme/grbl/pull/59.diff","patch_url":"https://github.com/keyme/grbl/pull/59.patch","issue_url":"https://api.github.com/repos/keyme/grbl/issues/59","number":59,"state":"open","locked":false,"title":"Add ADC filter, force servoing, systick callbacks","user":{"login":"StephanCoetzee","id":17838292,"avatar_url":"https://avatars.githubusercontent.com/u/17838292?v=3","gravatar_id":"","url":"https://api.github.com/users/StephanCoetzee","html_url":"https://github.com/StephanCoetzee","followers_url":"https://api.github.com/users/StephanCoetzee/followers","following_url":"https://api.github.com/users/StephanCoetzee/following{/other_user}","gists_url":"https://api.github.com/users/StephanCoetzee/gists{/gist_id}","starred_url":"https://api.github.com/users/StephanCoetzee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/StephanCoetzee/subscriptions","organizations_url":"https://api.github.com/users/StephanCoetzee/orgs","repos_url":"https://api.github.com/users/StephanCoetzee/repos","events_url":"https://api.github.com/users/StephanCoetzee/events{/privacy}","received_events_url":"https://api.github.com/users/StephanCoetzee/received_events","type":"User","site_admin":false},"body":"This PR replaces https://github.com/keyme/grbl/pull/56.\r\n\r\nIn addition to the changes mention in https://github.com/keyme/grbl/pull/56, the following updates are implemented:\r\n\r\n* Raw ADC values are continuously read, and not only when we sample them at specific intervals. 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