# Firmware Synchronization for DIW

**URL:** <https://forum.lulzbot.com/t/firmware-synchronization-for-diw/26690>\
**Category:** Firmware\
**Created:** [May 23, 2024, 3:54pm UTC](https://forum.lulzbot.com/t/firmware-synchronization-for-diw/26690 "2024-05-23T15:54:51Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Jalom](https://avatars.discourse-cdn.com/v4/letter/j/7bcc69/32.png) [@Jalom](https://forum.lulzbot.com/u/Jalom)\
**Post date:** [May 23, 2024, 3:54pm UTC](https://forum.lulzbot.com/t/firmware-synchronization-for-diw/26690/1 "2024-05-23T15:54:51Z")

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I work in a research lab and we’re trying to use a Lulzbot Pro to create a direct ink writing setup. Basically, instead of using the standard toolhead we’re replacing it with a nozzle attached to a pressure controller to extrude “goo”, so the printer is really only for controlling motion and substrate temperature.

To make sure everything lines up right, we need the printer firmware to send the command acknowledge statement “ok…” only **after** the current motion step is completed. Right now it seems like it sends the acknowledge statement upon **receiving** the motion commands.

We’re looking through the Marlin-v2.1.3.0.21 version, and we think we might need to make a change in the queue.cpp/gcode.cpp file and/or include the ok\_to\_send() or process\_next\_command() functions somewhere but we’re not sure.

Any suggestions would be greatly appreciated!

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**Author:** ![Wrathernaut](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.lulzbot.com/wrathernaut/32/13542_2.png) [@Wrathernaut](https://forum.lulzbot.com/u/Wrathernaut)\
**Post date:** [May 23, 2024, 4:48pm UTC](https://forum.lulzbot.com/t/firmware-synchronization-for-diw/26690/2 "2024-05-23T16:48:14Z")

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Since nothing about this need is specific to the machine, you’d get a lot more help going to a Marlin-focused community. This board isn’t extremely active, and even less so with people who have any expertise in programming Marlin.

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<div class="post-metadata">

**Author:** ![Jalom](https://avatars.discourse-cdn.com/v4/letter/j/7bcc69/32.png) [@Jalom](https://forum.lulzbot.com/u/Jalom)\
**Post date:** [May 24, 2024, 4:51pm UTC](https://forum.lulzbot.com/t/firmware-synchronization-for-diw/26690/3 "2024-05-24T16:51:47Z")

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Thanks! Do you know any such forums I could look into?

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<div class="post-metadata">

**Author:** ![Wrathernaut](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.lulzbot.com/wrathernaut/32/13542_2.png) [@Wrathernaut](https://forum.lulzbot.com/u/Wrathernaut)\
**Post date:** [May 24, 2024, 5:06pm UTC](https://forum.lulzbot.com/t/firmware-synchronization-for-diw/26690/4 "2024-05-24T17:06:11Z")

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From [Contributing to Marlin | Marlin Firmware](https://marlinfw.org/docs/development/contributing.html)

> There are now many community resources for users of Marlin. If you’re looking for help installing or troubleshooting these are the best places to go.
> 
> - [MarlinFirmware on Discord](https://discord.gg/n5NJ59y) - Realtime chat with users and developers
> - [Marlin Firmware](https://www.facebook.com/groups/1049718498464482/) and [Marlin \>Firmware for 3D Printers](https://www.facebook.com/groups/3Dtechtalk/) Facebook Groups
> - [Marlin Forum](https://forums.reprap.org/list.php?415) at [RepRap.org](http://RepRap.org)
> - [Marlin YouTube Videos](https://youtube.com/results?search_query=marlin+firmware)