Stage 06 · 6DOF Robotic Arm · Chapter 7 · 90 min

Firmware Basics (Servo Control)

Flash a first sketch: smooth joint moves, channel map, and serial commands.

• Install Arduino IDE (or CLI) and required libraries

• Drive servos via PCA9685 or Servo.h

• Implement joint limits and eased motion

• Add a simple serial protocol for joint angles

• Previous: Gripper & End Effector
• Next: Inverse Kinematics Intro
• Global Bill of Materials