This repo is forked from ufactory and has been modified so that the arm will move linear on aluminum tracks. The firmware has been changed to use the extruder motor as the 4th axis. Use the develop branch.

• uArm Swift
• Raspberry Pi
• Printed parts
• Aluminium profiles
• Tripods
• LiPo battery
• DCDC converter
• Opto endstops
• Bearings (4pc 19mmØ, 3pc 22mmØ)

The Paspberry Pi runs DietPi. The RPi recives messages on port 8002 and forwards them to a USB port with socat. The following command is exacuted on startup on the RPi:

socat tcp-listen:8002,reuseaddr,fork /dev/ttyACM0,b115200,raw,echo=0,crnl

• Install necessary firmware on RPi
• Flash uArm with the Marlin.ino firmware
• Run python -i armController.py (on local machine)

Be aware of the ip address of the pi and change that in the class "Swift" in the file swiftController.py

The armController.py creates an "arm" object that contains all functions to send command over tcp to the rpi. THe folowing commands can be used to move the arm after python -i armController.py is run.

arm.moveToPos(x,y,z,e)

arm.moveXToPos(pos)
arm.moveYToPos(pos)
arm.moveZToPos(pos)
arm.moveEToPos(pos)

amr.moveXYZRel(dx,dy,dz,de)

arm.moveXRel(dist)
arm.moveYRel(dist)
arm.moveZRel(dist)
arm.moveERel(dist)

Visit http://www.ufactory.cc/#/en/support/ for more details.

Swift Pro Firmware is published under the GPL license