How can I use RC Servos as Axis in grblhal?

[ashokmanker]

I want to control 6dof robotic arm with grblhal. It's using rc servo for each joint. How can I define each rc servo as axis. So that I can control using g-codes. It's using 8 servos. 2 for shoulder joints, 5 for other joints and 1 for gripper.

[terjeio]

A plugin can be added that convert axis positions to the required PWM signals. Or a driver has to be modified to output PWM signals instead of step/dir. A MCU with support for enough PWM channels is required - perhaps a STM32 (F7 or H7 variant) will be best suited for that. The gripper can be controlled by spindle speed commands by configuring the PWM spindle to output a servo compatible signal.

[ashokmanker]

Thanks for reply and guidance. But I think writing drivers is out of my scope. I think I should consider some other platform or solution.