The Arm Control library, firmware, and software will allow you to control InterbotiX arms by sending an absolute coordinate in X/Y/Z space for the arm to move to. This setup is useful for integrating the arm with software applications and other robotic systems.
This firmware is offered for advanced users with knowledge of serial-level communications.
SnapperArmSerial sketch is loaded onto the snapper arm, the arm will respond to a specially formulated serial packet. This packet will contain the absolute goal position of the end-effector (the gripper) in XYZ space, the angle of the wrist servo, the position of the gripper, and the speed of the arm.
This firmware also suports Cylindrical IK and Backhoe/ Joint control mode.
If you have not already, make sure you have gone through the Snapper Arm Getting Started Guide this will help make sure you've downloaded the RobotGeek Tools and Libraries, the demo firmware and have setup and tested the arm.