4 Axis (currently, more later), stepper driven, belts and ball screws, Annin Robotics firmware and interface, Teensy 4.1, Arduino Nano, DIN rail, 36v Lion battery power source, optical encoders (currently disabled), limit switches (in process of wiring), hobby servo gripper for testing, 5lbs (2.3kg) payload. Future plans for rotational axis to be on round a mobile base driven by Hoverboard BLDC motors, with built in hall effect for positioning. Plan is to take pulse/dir info from Teensy from J1, and use a Rpi Pico to translate signals to the BLDC wheel motor drivers. More on this part later. Here is video of some recent testing:
