# LiYan1919810/yuegang5-robotic-arm v0.4.0 — Task pause/resume, speed adjustment, and action group refactor

- Source: GitHub Robotics Topic
- Published: 2026-10-16T13:02:21.000Z
- RoboHot: https://robohot.news/en/items/juw8sb3l1cwgcmwlufh9406ar
- Original: https://github.com/LiYan1919810/yuegang5-robotic-arm/releases/tag/v0.4.0

## Summary

LiYan1919810/yuegang5-robotic-arm released v0.4.0, adding pause/resume and serial-port speed adjustment for drawing/straight-line tasks (H/L keys adjust TURN_INTERVAL by ±5ms). Button one changed from looped execution to one playback per press; action groups A/B/C refactored into a two-stage handoff; teaching z compensation changed to per-point independent compensation based on the first point. The program grew from 1211 lines to 1298 lines; pause stability and handoff smoothness still await real-world testing.