Run on an Arduino Nano, this controller uses inverse kinematics to control a Delta robot. The controller takes in serial commands and mvoes the robot accordingly.
After defining link lengths laid out in the Kinematics.h file and uploading the code to the dev board, one can send a linear move command (LM) followed by the x, y and z coords seperated with spaces.
example Command sent over serial:
LM -10.0 25.0 250.0
This will, if in bounds, move the robot to an x position of -10mm, a y position of 25mm and a z position of 250mm
More commands are being added.