There is a reverse run branch that rob created that allows you to do 
negative adaptive feed.  This and some hal bits an you can 'jog' through 
a gcode program.  Don't know if I would ever use this..  but it is kinda 
cool :) Someone had mentioned that another control had this 
functionality - that made me want to see if it was possible..

https://youtu.be/u9QqVx3_RgA

I was using a HB04 wireless pendant - A real encoder with a good 
velocity estimation would be a lot better.  (I had to do some fiddly 
bits to get a velocity from the encoder counts.)

sam

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