6 dof robot arm CORE code for the ARM
Becouse the Teensy4.1 gives higer resultion I tried using the timer interupt to sychronize all motors including acceleration and deacceration.
How to use :
downloard the ZIP file by clicking view raw , in arduino/libraries folder extract or just upload the zip in the arduino IDE
This can be implemented with the IK solver but in general in the Firware sketch