# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: OpenSCARA light-painting arm
summary: An open-source, 3D-printed two-joint SCARA robot arm that draws with light, driven by two NEMA 17 steppers and a BeagleBone Black.
category: arm
difficulty: intermediate
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/jonardan/OpenSCARA
  ref: bfecf63eb0920ce598650bb553a85b617fead824
tools:
  - 3D printer
  - soldering iron
  - picocom
files:
  parts_3d: hardware/stl/
  cad: hardware/fusion/
  docs: docs/
  images:
    - docs/media/overview.gif
specs:
  reach_mm: 361.8
build_steps:
  - title: Print and assemble the parts in hardware/
  - title: Wire the board, drivers, motors and endstops following the wiring guide
  - title: Build the image with Buildroot pointing at the software/ folder
  - title: Write the image to a microSD card
  - title: Boot the BeagleBone from the card and open the console
  - title: Calibrate homing direction, home angles and joint limits