It's been a while
since the last update I have redesigned the gearbox with 2 radial
bearings and a thrust bearing. The worm is print in 2 parts this
gives a better tooth profile and reduce backlash. The motor driver is
now a VNH2SP30 on a custom pcb and still the arduino pro mini. Its
now mounted on the gearbox to reduce wiring and make it more modular.
After the redesign its not 100% compatible with Inmoov. Communication
is now with RS485 each unit is daisy chained from the last again to
reduce the wiring clutter. Using cheap motors causes a problem with
the PID accuracy mainly due to the higher starting voltage and the
resultant jerk on start of movement.
