Accuracy and accelerometer improvements

1. Improved accuracy and smoothness
2. The base motor gear backlash is accounted for in software. The arms' backlash is to be done in next versions as it is a terrible and nasty workaround to the mechanical design flaw and requires a not straightforward implementation
3. GY-521 modules can be read on RAMPS at any time online in the user program (as opposed to SPI accelerometers on FPGA which can be read only when Arduino boots and will always return same results after that to the user program)
4. Added a safety net that turns off laser when there are no more commands in the queue in Arduino, which can be an indication that the user forgot to turn it off or something went wrong with the user program
5. I2C error detection implemented and recovery procedures added
6. Project restructured (it has become cluttered with growing number of examples and actual software all in one folder)

SAFETY NOTICE IN README.md

SAFETY NOTICE IN README.md

Accelerometer reading interpretation fix

1. Fixed GY-521 unit reading interpretation for front arm on RAMPS. Changes in calibration-tool.py and DobotSDK.py
2. Added Windows RAMPS firmware build script

RAMPS!

Now supports RAMPS too!

Python 2.7 and 3.x support, "jerky" bug fix

Added:

• support for Python 3.x (Python 2.7 still supported)

Fixed:

• timing issue in firmware leading to jerky behavior under certain conditions
• slow Windows 7 serial API addressed that also lead to jerky behavior

Complete Dobot functionality

This is a major release as complete Dobot functionality is now provided.

New in this release:

• laser on/off with correct queueing
• pump and valve on/off with correct queueing
• smooth moves with acceleration/deceleration
• gripper control
• wait command to introduce a delay in movement/manipulation sequence if needed

Feature expansion, major improvements

1. Current motor position in steps is tracked precisely in SDK and in Arduino.
2. Inverse Kinematics replaced to improve accuracy.
3. Straight line implemented.
4. Acceleration/deceleration implemented.
5. Laser on/off implemented. Currently this command is asynchronous to the movement commands, meaning regardless of how many movement commands have been queued on Arduino the laser command is executed right away.

Limit switch/photointerrupter support. EmergencyStop() function

1. Limit switch/photointerrupter support
2. EmergencyStop() function

Initialization from accelerometers!

1. Accelerometers' data converted to angles
2. SDK initializes from accelerometers and doesn't require a specific pose upon initialization any more (which wasn't feasible and repeatable anyway)
3. Calibration instructions and tool created

SDK. FPGA SPI protocol decoded. SDK example

1. Initial version of SDK implemented providing high-level functions to move arm to specific coordinates.
2. SDK example provided.
3. FPGA SPI protocol decoded.