Grabber Machine

This program are be made for a custom grabber machine, driven by a Arduino board.

Hardware

Actually the machine are not fully assembled yet, but for idea we have :

• The frame
• 1 Push button
• 2 Axis driven by a stepper motor (x, y) with one limit switch per axis (xls, yls)
• 1 Axis driven by a DC motor (z)
• 1 Grabber driven by a servo motor (rz)

(ugly) Software flowchart

Some project pictures