Mainboard Stack Redo & Firmware Updates and Test Web UI

I had to take the electronics out, and redo some of the wiring. The screw terminals are pretty cheap and suck, which makes it incredibly annoying to use as it’s impossible to fit these thicker AWG wires in and they sometimes slide out of the terminals. When I’m done I’m probably going to hot glue the wires. The incredibly fragile flexible extension jumpers for data transfer between the stack is also super fragile, and especially doesn’t grip. Sometimes the data wires just slip out.

I took apart the arm, as during testing the motor stripped some screws. I’ve ordered some heat set inserts to prevent that from happening again, which will require me to reprint all the arm segments again.

I also added a simple web UI for moving the joints. There is an empty ThreeJS sidebar and the right has some graphs (real data) from the mainboard sensors. The smaller MG996R servos haven’t been mounted yet due to a power delivery issue from the mainboard but hopefully that will be fixed soon.