I made this small five axis machine back in 2015 while I was an intern at OtherLab… it was a big hello-world for Mechanical Engineering, CAD, as well as learning how to wrangle C++ and embedded code more broadly, adapting the Smoothieware Firmware to accept 5-axis G-Codes, and do transforms to maintain coordinate space / machine space against those pesky angular moves.

I don’t think I would have the patience to breadboard out a controller like this again, glad I eventually learned how to draw circuits…