Welcome to the Community Robot Arm Documentation

This repository hosts a minimal, highly practical firmware engineered specifically for a 3-DOF community robot arm (derived from the Florin Tobler design lineage), optimized for operation on Arduino Nano and Arduino Uno microcontrollers.

Project Objectives

• Reliability: Consistent and smooth execution of both joint-space and Cartesian motion.

• Adaptability: Highly configurable endstop homing routines.

• Accessibility: A straightforward, serial-based G-code interface for broad compatibility.

• Efficiency: Extremely low computational overhead, tailored for resource-limited embedded hardware.

Documentation Sections:

• Hardware Setup
  • What You Need
  • 3D Printed Parts
  • Important Hardware Notes
  • Wiring Guide
  • Wiring Limit Switches
• Setup & Calibration
  • Initial Setup
  • Checking Motor Directions
  • Testing Limit Switches
  • Auto Homing
  • Emergency Stop
  • Calibration
• Serial Protocol & Command Reference
  • Serial Protocol
  • Supported Commands
• Kinematics & Workspace
  • Notation and Units
  • Mechanical Model
  • Home Pose and Axis Frame
  • Positive/Negative Rotation Directions
  • Joint Limits
  • Forward Kinematics
  • Inverse Kinematics
  • Workspace Limits