thanks again for the great project and inspiration
Hi Derek, thanks for the nice comments 8)
Again, before making any atempt so solve the cube, please make sure that:
- the frame geometry is correct
- rotations are exactly 90° by tuning XXX_CW and XXX_CCW parameters
- griping strenght is adequate, with no slippage (XXX_CLOSE)
Bot should pass the two tests described in post #6 and post #13
Good luck for your project, feel free to report progress