• Fix cmd M17 bug
• Add closed-loop stepper control (step losing detection and auto-adjusting)
• Add M2123 cmd to control closed-loop stepper system
• Fix G1 move bug
• Add M2412 cmd to set offset of the effect-stepper
• Fix P2206 cmd to get effect angle
• Add pro work mode,plus work mode and touch pen work mode
• Fix old uarn pro cann't read refer value bug
• Fix P2242 P2243 bug

• Transplant Grbl framework.
• Optimize stepper motor performance,improve motor speed,fix motor shake.
• Fix servo shake in end-effector.
• Optimize code efficiency and improve readability.

• input and Grove module in BLOCKLY are not supported.
• Draw/Laser is not supported.
• 3D Printing is not supported.

First, connect to uArm using the serial terminal of your choice.Set the baud rate to 115200 as 8-N-1 (8-bits, no parity, and 1-stop bit.) .Cmd list reference to protocol documents.

• move cmd support G0,G1,G2004,G2201,G2202,G2204,G2205.
• setting cmd support M17,M204,M2019,M2120,M2121,M2122,M2201,M2202,M2203,M2210,M2215,M2220,M2221,M2222,M2231,M2232,M2233,M2400,M2401,M2410,M2411.
  not support currently M2211,M2212,M2213,M2234,M2240,M2241,M2245.
• query cmd support P2200,P2201,P2202,P2203,P2204,P2205,P2206,P2220,P2221,P2231,P2231,P2232,P2233,P2234,P2242,P2400.
  not support currently P2240,P2241.

• Windows XP: Right click on "My Computer", select "Properties", select "Device Manager".
• Windows 7: Click "Start" -> Right click "Computer" -> Select "Manage" -> Select "Device Manager" from left pane.
• In the tree, expand "Ports (COM & LPT)".
• Your uArm will be the Arduino Mega 2560 (COMX), the “X” represents the COM number, for example COM6.
• If there are multiple USB serial ports, right click each one and check the manufacturer, the Arduino will be "FTDI".

• Download the hex
• Download and extract XLoader.
• Open XLoader and select your uArm's COM port from the drop down menu on the lower left.
• Select the appropriate device from the dropdown list titled "Device".
• Check that Xloader set the correct baud rate for the device: 115200 for Mega (ATMEGA2560).
• Now use the browse button on the top right of the form to browse to your hex file.
• Once your hex file is selected, click "Upload" The upload process generally takes about 10 seconds to finish. Once completed, a message will appear in the bottom left corner of XLoader telling you how many bytes were uploaded. If there was an error, it would show instead of the total bytes uploaded. Steps should be similar and may be done through the command prompt.

you have three ways to control your uArm:

• using the serial terminal example
• using the Python library
• using the uArmStudio

Swift Pro Firmware is published under the GPL license