Stage 06 · 6DOF Robotic Arm · Chapter 5 · 75 min

Controller Board & Wiring

Connect the MCU, optional PCA9685, and signal lines with a clean, labeled loom.

• Wire I²C (SDA/SCL) from MCU to PCA9685 with shared ground

• Map each joint to a PWM channel and document it

• Strain-relieve cables along the arm links

• Perform a continuity and address scan before full motion