I now have the software accepting G0, rapid move commands, G1 straight line commands using Bresenhems line algorithm, and G2/G3 circular command.
The method of input of commands is using the serial monitor, in the format of <gcode,X,Y,Z,I,J> with I and J being the coordinates of the radius of any circular command.
Eventually I want to either adapt my code to be able to communicate with a standard program like Universal G Code Sender or any of the many PC interfaces for marlin or grbl.
Revised code to eliminate some bugs. See second version.
Dobot_IK_Accel_Multi_Home4.1.ino (20.8 KB)
Dobot_IK_Accel_Multi_Home4.1.ino (21 KB)