Based on a project by fablab.ruc.dk
Initial files were taken from the dropbox
The main difference was using USDigital A2 encoders, which were a lucky gift. This changed the CAD (because they are bigger) and the software (because they communicate over an RS485 bus and are absolute).
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Hardware is licensed under the CERN open hardware license 1.2
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Software is licensed under a Creative Commons Attribution 4.0 International License.