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Swift Pro Firmware is published under the GPL license

This fork of the uArm Swift Pro firmware is mostly for learning purposes. My aim is to added comments to parts of the code I am interested in to explain how it works to myself and possibly to others.

The coordinate system of the uArm Swift Pro is relative to the base of the unit where the +X axis points out of the face on which uArm Swift Pro is printed, opposite the power and USB connectors. The +Z axis is upwards while the +Y axis points out of the face opposite the grove connectors, consistent with a right handed coordinate system.

The position returned by G code P2220 appears to be based on the last values to G0 and does not accurately reflect the actual position of the end effector. To determine its actual value one must first execute P2200 to get the angle of each joint then pass the values to M2221.

The uArm Swift Pro has some pretty accurate rotational sensors, but there is mechanical flex that reduces that accuracy. By gently applying pressure to the end effector I am get around +/-0.3 degree of variation.

The uArm Swift Pro has 4 joints. Starting from the base I call them the base joint, the shoulder joint, the elbow joint and the wrist joint. The first 3 joint angles are reported by P2200, in which B=base, L=shoulder and R=elbow.

In software the X and Y maximum range is capped at 300 (Marlin/Configuration.h). Physically the end effector cannot get within 100 mm of the origin, which is anchored at centre of the base joint.