Spherebot firmware for Maple board from LeafLabs

thingiverse

To build a SphereBot/Eggbot, I lacked an Arduino and Pololus but managed to use my LeafLabs Maple board and Sparkfun EasyDrivers instead. The GCode interpreter is mainly from Reprap 5D firmware, while motion control was custom-written, possibly leading to some unusual behavior. Optimization opportunities exist, like the lack of a command queue and delayed 'ok:' message until the desired position is reached. Streaming lines too fast may cause stuttering due to intricate calculations. The board freezes on unrecognized commands, which I plan to fix. My coding skills are rusty, so I am embarrassed. Currently, the firmware is set with pins 0 for servo, 8 and 9 for Y direction/step, and 10 and 11 for X direction/step. Follow Zaggo's instructions, a huge thanks to him. Visit his blog at http://pleasantsoftware.com/developer/3d/spherebot/. Due to using steps instead of millimeters, the firmware rounds values down with Floor(), potentially leading to strange results, like the Superman logo. It comprises a 9g servo, two stepper motors, a LeafLabs Maple r5 board, and EasyDrivers. I have fixed some code issues and am currently working on improving circle precision.