MarkT:
You are setting fixed speeds for each axis. Those speeds need to be tightly coordinated.Concerted multi-axis movement is a harder problem than you think - the acceleration ramping
has to be coordinated too, otherwise the spatial relationships will be lost.
About the speeds: So, what should I do in order not to set a fixed speed? Uncomment .setMaxSpeed(), .setSpeed() and/or .setAcceleration()?
About the accelerations: MultiStepper::moveTo method executes a non accelerated movements. Each axis starts and ends at his MultiStepper::moveTo precalculated speed. At least for me. There is someway to make MultiStepper::moveTo accelerated?