RoboRot

Firmware for a DIY robotic arm with 6 axis (degrees of freedom) driven by a Arduino Due (or any other Arduino based board) using TB6600 Stepper Motor Drivers.

Build and flash it on the microcontroller. It communicates via (USB) serial port and will accept G-Code commands sent by the terminal.

Pre-Requisites

• JetBrains CLion https://www.jetbrains.com/clion/ or another C/C++ IDE
  • install Plugin: PlatformIO
  • install Plugin: SerialMonitor
• PlatformIO https://platformio.org/install
• AccelStepper Library: https://www.airspayce.com/mikem/arduino/AccelStepper/
  (is linked via platform.ini)

BOM

• Arduino Due https://store.arduino.cc/en-at/products/arduino-due
• TB6600 Stepper Motor Driver https://www.makerguides.com/tb6600-stepper-motor-driver-arduino-tutorial/

3D-Printed Parts

This is our prototype:

Usage

Firmware run on the hardware for the robotic arm

• Build the firmware: pio run
  (or in CLION: Pio Plus Tasks --> Tasks/General/Build)

• Upload the firmware: pio run --target upload
  (or in CLION: Pio Plus Tasks --> Tasks/General/Upload)

• Open the Serial-Monitor and enter your G-Code commands, see doc/GCODE.md

Automated Tasks/Tests (CI/CD)

• Run the Unit Tests: pio test
  (or in CLION: Pio Plus Tasks --> Tasks/Advanced/Test)