Working on control program for the arm! I have a custom ik and forward kinematic solver coupled with a gcode sender in order to send commands to a arduino uno running a fork of grbl, gcobos/grbl4axis! (what being special about it is using the A axis as another motor rather than extruder/ spindle) I was able to get all axis working (other than A but thats due to a faulty arduino D13 pin not working), all up on github!(NOTE** all code written by claude sonnet 5)