CGx-Gcode-RobotArm

Gcode decoder for Arduino for robotic arms. Works together with InverseK library.

How to use?

Install the InverseK library.
If you haven't done so, install the Adafruit PWM Servo Driver library.
Download the project as a .zip file.
Open Arduino IDE
Select Sketch->Include Library->Add .ZIP Library...
Locate the .zip file you just downloaded (Should be named CGx-Gcode-RobotArm-master.zip)
Select the file and click Open
Done!

You can check the example sketch at: File->Examples->CGx Gcode->CGx_Gcode_Example

~~comment out the first line of the example if you want to test without the hardware!~~ (This feature is currently under fix)

You should connect each servo to the servo driver according to this table:

Gcode	Syntax	Definition
G0	`G0 Xnn.n Ynn.n Znn.n Wnn.n`	Fast Movement to X Y Z [mm] position. [Optional] set approach angle W.
G1	`G1 Xnn.n Ynn.n Znn.n Wnn.n Fnn.n`	Controlled Movement to X Y Z [mm] position. [Optional] set speed F [mm/s]. [Optional] set approach angle W.
G28	`G28`	Home position.
G53	`G53 Ann.n Bnn.n Cnn.n Dnn.n Enn.n Fnn.n`	Move each servo individually at nn.n [degrees]. Each parameter is optional.
G54	`G54 Ann Bnn Cnn Dnn Enn Fnn`	[Used for calibration] Move each servo individually using nn [ms] pulse width. Each parameter is optional.

Gcode	Syntax	Definition
M100	`M100`	Close grip.
M101	`M101`	Open grip.
M103	`M103`	[Used for calibration] Enable calibration mode.
M104	`M104`	[Used for calibration] Disable calibration mode.
M105	`M105`	[Used for calibration] Go to first calibration position.
M106	`M106`	[Used for calibration] Save current position as first calibration position.
M107	`M107`	[Used for calibration] Go to second calibration position.
M108	`M108`	[Used for calibration] Save current position as second calibration position.