U Arm Swift Pro Developer Guide V1.0.6
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Contents SAFETY INSTRUCTIONS ...................................................................................................... 3 GENERAL INFORMATION ................................................................................................... 3 1.Source file............................................................................................................................... 3 2.Reference frame ..................................................................................................................... 4 3.Coordinate .............................................................................................................................. 5 4.Mounting ................................................................................................................................ 6 5. Buttons & indicator lights ..................................................................................................... 8 6.Extension description ........................................................................................................... 10 SPECIFICATIONS ................................................................................................................. 12 APPLICATION INFORMATION .......................................................................................... 14 1.Send command over usb cable ............................................................................................. 14 2.Send command over bluetooth ............................................................................................. 17 3.The 2nd UART ..................................................................................................................... 20 4.Arduino ................................................................................................................................. 21 5.Ros & python........................................................................................................................ 23 6.Openmv demo ...................................................................................................................... 23 7.RECOVER FROM THE WRONG CODE .......................................................................... 23 PROTOCOL ............................................................................................................................ 24 1.Introduction .......................................................................................................................... 24 2.Example ................................................................................................................................ 24 3.Commands(tbd)·................................................................................................................... 24 UARM COMMUNITY ........................................................................................................... 33 RELEASE NOTE .................................................................................................................... 33 2 Safety Instructions 1. Please don’t put your hands between the arms when uArm is moving. 2. Please use the official power supply for safety reasons. 3. Please clear a space for uArm, in case of knocking down anything. General Information General information for the robot arm, and it’s good to know before developing. 1.Source file Source code of Firmware for Swift Pro: https://github.com/uArm-Developer/SwiftProForArduino Source code of ROS for Swift Pro: https://github.com/uArm-Developer/SwiftproForROS Python library for Swift Pro: https://github.com/uArm-Developer/pyuf OpenMV example for tracking: https://github.com/uArm-Developer/OpenMV-Examples To be continued… (Arduino, C++, Raspberry Pi) 3 2.Reference Frame 4 3.Coordinate The picture in the right also shows the dynamic payload range of uArm. Test condition: G2202 F1000; Red point is the Tool Center Point. Detail size of each arm and base. 5 The origin of base coordinate is in the center of the base. But the tool center point is different for different end-effectors. And we also offer the different commands for different usages. Currently we offer 4 kinds of mode: M2400 S0: Normal mode (end-effector tools: suction) M2400 S1: Laser mode (end-effector tools: laser) M2400 S2: 3D printing mode (end-effector tools: Hot End) M2400 S3: Universal holder mode (end-effector tools: universal holder) For the gripper, there is no special mode since gripper has the fingers and can rotate horizontally. 4. Mounting 6 7 5. Buttons & Indicator Lights Caution: By default, the user defined button is for switching between Bluetooth and USB mode. Please ensure the button is UP while communicating with uArm via USB. 8 9 6.Extension Description Details of 30P Base Extension 10 11 Specifications Specifications Weight Degrees of Freedom Repeatability Max. Payload Working Range 2.2kg 4 0.2mm 500g 50mm～320mm Max. Speed Connector Wireless 100mm/s Micro USB Bluetooth 4.0 Input Voltage Power Adapter DC 12V Input:100～240V 50/60Hz; Output: 12V5A 60W Operation Temperature & Humidity Storage Temperature & Humidity 0℃-35℃ 30%RH-80%RH noncondensing -20℃-60℃ 30%RH-80%RH noncondensing Hardware Customized Gearbox + Stepper 12 bit Encoder Customized ultra-thin Gearbox 150mm*140mm*281mm Arduino MEGA 2560 Aluminum 115200bps Joint Type Position Feedback Reducer Dimension(L*W*H) Mother Board Material Baud Rate Extendable I/O Interface I/O *27，IIC *1，5V*1，12V*1，Stepper*1 Software PC Control App Control For Developer Feature uArm Studio uArm Play Python/Arduino/ROS Open Source Angle Joint Speed & Torque Speed Lifetime Torque Base Motor 0°～180° 40°/s >3000h 12kg⋅cm Left Motor 0°～130° 40°/s >3000h 12kg⋅cm Right Motor 0°～106° 40°/s >3000h 12kg⋅cm End-effector Motor 0°～180° 60°/s 500h 2kg⋅cm Integrated Pump Accessories Suction Diameter 12 5mm～10mm Metallic Universal Holder Metallic Gripper OpenMV Camera Integrated Bluetooth 3D Printing Kit (Only for Pro) Laser Engraving Kit (Only for Pro) Max. Pressure Max. Lifting Weight Feature Weight Dimension(L*W*H) 33kPa 1000g With feedback 36g 62mm*25mm*15mm Material Holder Diameter Weight Dimension(L*W*H) Material Max. Force Max. Size of Object Max. Speed Drive Mode Working Voltage/Current Focal Length FOV F-number Programmable Method Weight Dimension(L*W*H) Aluminum 14mm 58g 92mm*50mm*18mm Aluminum 750~800g 40mm 20mm/s Electrically-driven 6V/300mA 2.8mm 115° f2.0 Micro Python 16g 45mm*36mm*30mm Frequency Band(3) 100M Operating frequency/frequencies 2400Mhz – 2483.5MHz Channel spacing / bandwidth 2MHz Transmit power 0dBm Mode of operation GFSK (simplex / duplex) simplex Duty cycle 100ms Access Protocol (if applicable) Bluetooth Low Energy 4.0 Transmitter Class type Type CLASS 2 Hot End Dimension(L*W*H) Extruder Dimension(L*W*H) Consumption Nozzle Diameter Max Temp Material Max. Printing Speed File Format Printing Size(L*W*H) Laser Power 37mm*31mm*76mm 61mm*52*66mm 35W 0.4mm 270 ℃ PLA 20mm/s .Gcode 10mm*10mm*10mm 500mW Working Voltage/Current 12V/5A 13 E3D v6 Wave Length Weight Dimension(L*W*H) Materials to Engrave 405nm 140g 55mm*33mm*88mm Wood, Plastic, Leather, Feather, Paper, etc. Application Information We would introduce several ways to play with the robot arm in different platform. 1.Send Command over USB Cable Power on the uArm and open the Arduino IDE. And setting the board like the picture below. Please make sure the port you are choosing is the correct port of uArm. Open the serial monitor in the right side of Arduino IDE. After clicking, and you could hear a beep which means the uArm is connected. 14 Set the parameter of serial monitor in the right bottom. If the setting is correct, you would receive the detail information from uArm like the picture below. Now, you are able to send the command to the uArm. Let’s send “G0 X250 Y0 Z130 F10000”. 15 If uArm finishes the movement, it replies “ok”. Please check the chapter of Protocol (Page 20) in this guide to test more commands. 16 2.Send Command over Bluetooth Plug in the Bluetooth stick, and press down the button beside the power button. Power on the uArm. When the Bluetooth stick is searching, the blue indicator keeps blink until the wireless connection is built up between stick and uArm. And the blue indicators in both stick and uArm become solid. Open the Arduino IDE. And setting the COM port like the picture below. Please make sure the port you are choosing is the correct port of Bluetooth stick. (Driver of stick: http://www.ftdichip.com/Drivers/VCP.htm ) Open the serial monitor in the right side of Arduino IDE. After clicking, and you could hear a beep which means the uArm is connected. 17 Set the parameter of serial monitor in the right bottom like the picture below. Now, you are able to send the command to the uArm. Let’s send “G0 X250 Y0 Z130 F10000”. 18 If uArm finishes the movement, it replies “ok”. Please check the chapter of Protocol (Page 20) in this guide to test more commands. 19 3.The 2nd UART Sometimes the 2nd UART is important for our project, for example you want another Arduino to communicate with uArm. During the design, we have had it in mind. There is the 2nd UART in the 30P base extension. All the pins of extension board are connected with the Arduino MEGA 2560 directly so it’s TTL level. And voltage above 5V might burn the IO out. So wiring the UART with the jump wire and also the GND. Then the hardware set up is finished. Then we have to change the main communication port from USB to the 2nd UART port, since the code only supports one port to deal with the command. Switch to 2nd UART communication Connect uArm Swift Pro to PC.Open XLoader (xloader.russemotto.com/)，load uArmSwiftPro_2ndUART.hex (https://github.com/TonyLeheng/Vision-Pick-and-Place ) Click “Upload” to upload the code to uArm Swift Pro. Switch to USB communication Connect uArm Swift Pro to PC, open XLoader (xloader.russemotto.com/)，load uArmSwiftPro_Standard.hex (https://github.com/TonyLeheng/Vision-Pick-and-Place). Click “Upload” to upload the code to uArm Swift Pro. 20 4.Arduino The main code is written by Arduino IDE. Please check the link below: https://github.com/uArm-Developer/SwiftProForArduino How to compile and upload the file？ 1. Download the code and extract it to your Arduino libraries folder (normally it’s in C:/Users/ufactory/documents/Arduino/libraries/) 2. Find the file named Marlin.ino in the Marlin folder and open it 3. Plug in the USB cable and power port then turn on the power button 21 4. Select the correct port and type of Arduino board like the picture below 5. Click the upload button to finish the uploading 22 5.ROS & Python Currently we released the library of Python and ROS. For more information, please check the link below. Source code of ROS for Swift Pro: https://github.com/uArm-Developer/SwiftproForROS Python library for Swift Pro: https://github.com/uArm-Developer/pyuf 6.OpenMV Demo And also the demo of OpenMV: https://github.com/uArm-Developer/OpenMV-Examples You could find the details steps in quick start guide. 7.Recover from the Wrong Code Sometimes you might want to go back to the official firmware and it’s too compli-cated to download the Arduino source code and download it. Or you flashed bad code to the uArm and you can’t even run it. Please try the offline flash tool here: https://drive.google.com/drive/u/0/folders/0B-LtCvknXU9dDhfSGJwT1JDY1U 23 Protocol 1.Introduction • uArm Gcode is an important part of the uArm software. • Based on the standard gCode protocol, we add a new protocol head in front of the Gcode so that it can be more easily to use and debug. • What’s more, it is designed to be compatible with the standard Gcode. (We offer the code of decode the standard Gcode) 2.Example • Sending command from PC “#25 G0 X180 Y0 Z150 F5000” //move to [180,0,150] with the speed 5000mm/min • Reply from uArm “$25 ok” 3.Commands(TBD)· Command can be divided into two parts: Command with underline: it’s the new added protocol head. • The command from PC starts with ‘#’, while the command from uArm starts with’$’. • And the data following the symbol decided by the PC, and the reply from the uArm should have the same data which indicates it finish the command. (In the example above, PC sends the command with ‘#25’ and uArm replies the command with’$25’) Command without the underline: it’s the standard Gcode. Caution : 1.There should be blank space between each parameter; 2.The letters in the command should be capitalized; 24 GCode Command (v1.2) Description Feedback 1. #n is used for the debug, if you don’t want to use it please remove it directly. (For Example: G2202 N0 V90\n) 2. ‘\n’ is the symbol of line feed. Moving Command (parameters are in underline) #n G0 X100 Y100 Z100 F1000\n Move to XYZ(mm), F is speed(mm/min) $n ok \n or $n Ex \n (refer to Err output) #n G1 X100 Y100 Z100 F1000\n After entering the laser mode (M2400 S1), command G1 means laser on, G0 means off. $n ok \n or $n Ex \n (refer to Err output) #n G2004 P1000\n Delay microsecond #n G2201 S100 R90 H80 F1000\n Polar coordinates, S is stretch(mm), R is rotation(degree),H is height(mm), F is speed(mm/min) $n ok \n or $n Ex \n (refer to Err output) #n G2202 N0 V90\n Move the motor to the position ,N is ID of joints(0~3),V is angle(0~180) $n ok \n or $n Ex \n (refer to Err output) #n G2204 X10 Y10 Z10 F1000\n Relative displacement $n ok \n or $n Ex \n (refer to Err output) #n G2205 S10 R10 H10 F1000\n Polar coordinates for relative displacement $n ok \n or $n Ex \n (refer to Err output) $n ok \n Setting Command (parameters are in underline) #n M17\n Attach all the joint motors $n ok \n #n M204 P200 T200 R200\n Set accelerations and save P = Printing moves R = Extruder only (no X, Y, Z) moves T =Hot End Travel (non printing) moves $n ok \n #n M2019\n Detach all the joint motors $n ok \n #n M2120 V0.2\n Set time cycle of feedback, return Cartesian coordinates, V is time(seconds) @3 X154.71 Y194.91 Z10.21\n #n M2122 V1\n Report (@9 V0) when stop. V1: Enable V0: Disable $n ok \n 25 #n M2201 N0\n attach motor, N is ID of joints(0~3) $n ok \n or $n Ex \n (refer to Err output) #n M2202 N0\n Detach motor, N is ID of joints(0~3) $n ok \n or $n Ex \n (refer to Err output) #n M2203 N0\n Check if the motor is attached, N is ID of joints(0~3) $n ok V1\n (1 attached,0 detached) #n M2210 F1000 T200\n buzzer,F is frequency, T is time (ms) $n ok \n or $n Ex \n (refer to Err output) #n M2211 N0 A200 T1\n Read EEPROM N(0~2,0 is internal EEPROM,1 is USR_E2PROM, 2 is $n ok V10\n SYS_E2PROM), A is address, T is type (1 char,2 int,4 float) Write EEPROM N(0~2,0 is internal EEPROM,1 is USR_E2PROM, 2 is #n M2212 N0 A200 T1 V10\n $n ok\n SYS_E2PROM), A is address, T is type (1 char,2 int,4 float)V is the input data #n M2213 V0\n Default function of base buttons (0 $n ok\n false, 1 true) #n M2220 X100 Y100 Z100\n Convert coordinates to angle of joints #n M2221 B0 L50 R50\n Convert angle of joints to coordinates #n M2222 X100 Y100 Z100 P0\n $n ok B50 L50 R50\n (B joint 0,L joint 1,R joints 2, 0~180) $n ok X100 Y100 Z100\n Check if it can reach,P1 polar, P0 $n ok V1\n (1 reachable, 0 Cartesian coordinates unreachable) #n M2231 V1\n pump V1 working, V0 stop $n ok \n or $n Ex \n (refer to Err output) #n M2232 V1\n gripper V1 close, V0 open $n ok \n or $n Ex \n (refer to Err output) #n M2234 V1\n Enable/disable Bluetooth (1:enable, 0:disable) $n ok\n #n M2240 N1 V1\n Set the digital IO output $n ok \n or $n Ex \n (refer to Err output) #n M2241 N1 V1\n Set the digital IO direction (V1 Output; V0 Input;) $n ok \n 26 #n M2245 Vbtname\n Set the name of Bluetooth, 11 letters limited (Do not add #n in this command) #n M2304 P0\n Please check the Grove modules below #n M2305 P0 N1\n Please check the Grove modules below #n M2306 P0 V1000\n Please check the Grove modules below #n M2307 P0 V1\n Please check the Grove modules below #n M2400 S0\n Set the mode of arm (0:Normal 1:Laser 2:3D printing 3:Universal holder) $n ok \n #n M2401\n Set the current position into the reference position $n ok \n #n M2410\n Set the height zero point $n ok \n #n M2411 S100\n Set the offset of end-effector (mm) $n ok \n #n M2500\n Switch the uart0 to uart2 for external TTL uart communication (For example OpenMV) $n ok \n $n ok \n Querying Command (parameters are in underline) #n P2200\n Get the current angle of joints $n ok B50 L50 R50\n #n P2201\n Get the device name $n ok V3.2\n #n P2202\n Get the hardware version $n ok V1.2\n #n P2203\n Get the software version $n ok V3.2\n #n P2204\n Get the API version $n ok V3.2\n #n P2205\n Get the UID $n ok V0123456789AB\n #n P2206 N0\n Get the angle of number 0 joint (0~2) $n ok V80\n #n P2220\n Get current coordinates $n ok X100 Y100 Z100\n 27 #n P2221\n Get current polar coordinates $n ok S100 R90 H80\n #n P2231\n Get the status of pump $n ok V1\n (0 stop, 1 working, 2 grabbing things) #n P2232\n Get the status of gripper $n ok V1\n (0 stop, 1 working, 2 grabbing things) #n P2233\n Get the status of limited switch $n ok V1 (1 triggered, 0 untriggered) #n P2234\n Get the status of power connection $n ok V1 (1 connected, 0 unconnected) #n P2240 N1\n Get the status of digital IO $n ok V1\n (1 High, 0 Low) #n P2241 N1\n Get the status of analog IO $n ok V295\n (return the data of ADC) #n P2242\n Get the default value of AS5600 in $n ok B2401 L344 R1048\n each joint #n P2400\n Check current status Ticking feedback @1 Ready @3 Timed feedback , ”M2120” @4 N0 V1\n Report the button event. N: 0 = Menu button, 1 = Play button V: 1 = Click, 2 = Long Press @5 V1\n Report event of power connection @6 N0 V1\n Report event of limit switch in end-effector @7 temp error Temperature error in 3D printing @9 V0\n Stop movement Err Output E20 Command not exist E21 Parameter error E22 Address out of range E23 Command buffer full 28 $n ok V1\n (0: normal; 1: laser; 2: 3D printing; 3: Universal holder;) E24 Power unconnected E25 Operation failure Grove modules Grove No. 1 2 3 4 5 Module Chainable RGB LED Button Slide Potentiometer Vibration Motor Light Sensor 6 Angle Sensor 7 Commands Description Support Ports Return #n M2304 P3\n Deinit 3, 4, 5 $n ok\n #n M2305 P3 N1 V2\n Init Module 1 in Port 3. V is the number of LEDs chained. 3, 4, 5 $n ok\n or E25 init fail #n M2307 P3 V0 R228 G128 B100\n Set the color of 0th LED 3, 4, 5 $n ok\n #n M2304 P3\n Deinit 3, 4, 5 #n M2305 P3 N2\n Init Module 2 in Port 3 3, 4, 5 Press down @11 P3 N2 V0\n Click @11 P3 N2 V1\n Long pressed @11 P3 N2 V2\n #n M2304 P1\n Deinit 1, 2 $n ok \n #n M2305 P1 N3\n Init Module 3 in Port1 1, 2 $n ok \n #n M2306 P1 V1000\n Set report interval (ms) 1, 2 @11 P1 N3 V583\n #n M2304 P3\n Deinit 3, 4, 5, 8, 9 $n ok \n #n M2305 P3 N4\n Init Module 4 in Port 3 3, 4, 5, 8, 9 $n ok \n #n M2307 P3 V1\n V1: turn on; V0: turn off 3, 4, 5, 8, 9 $n ok \n #n M2304 P1\n Deinit 1, 2, 13 $n ok \n #n M2305 P1 N5\n Init Module 5 in Port 1 1, 2, 13 $n ok \n #n M2306 P1 V1000\n Set report interval (ms) 1, 2, 13 @11 P1 N5 V583\n #n M2304 P1\n Deinit 1, 2, 13 $n ok \n #n M2305 P1 N6\n Init Module 6 in Port 1 1, 2, 13 $n ok \n #n M2306 P1 V1000\n Set report interval (ms) 1, 2, 13 @11 P1 N6 V583\n #n M2304 P1\n Deinit 1, 2, 13 $n ok \n #n M2305 P1 N7\n Init Module 7 in Port 1 1, 2, 13 $n ok \n Air Quality Sensor 29 8 Sound Sensor #n M2306 P1 V1000\n Set report interval (ms) 1, 2, 13 @11 P1 N7 V583\n #n M2304 P1\n Deinit 1, 2, 13 $n ok \n #n M2305 P1 N8\n Init Module 8 in Port 1 1, 2, 13 $n ok \n #n M2306 P1 V1000\n Set report interval (ms) 1, 2, 13 @11 P1 N8 V583\n #n M2304 P0\n Deinit 0 $n ok \n #n M2305 P0 N9\n Init Module 9 in Port 0 0 $n ok \n 0 @11 P0 N9 X2.0 Y2.0 Z2.0 H2.0 T2.0\n Set report interval (ms) 9 XYZ is the rotation angle of each axis. 6-Axis Accelerometer & Compass #n M2306 P0 V1000\n H is the clockwise angle between the magnetic north and x-axis T is the clockwise angle between the magnetic north and the projection of the positive x-axis in the horizontal plane 10 Color Sensor #n M2304 P0\n Deinit 0 $n ok \n #n M2305 P0 N10\n Init Module 10 in Port 0 0 $n ok \n #n M2306 P0 V1000\n Set report interval (ms) 0 @11 P0 N10 R218 G31 B128\n #n M2304 P0\n Deinit 0 $n ok \n #n M2305 P0 N11\n Init Module 11 in Port 0 0 $n ok \n @11 P0 N11 V1\n 1: right 2: left 11 Gesture Sensor 4: up #n M2306 P0 V1000\n Set report interval (ms) 0 8: down 16: forward 32: backward 64: clockwise 128:counter clockwise 12 Ultrasonic #n M2304 P3\n Deinit 4, 8, 9 $n ok \n #n M2305 P3 N12\n Init Module 12 in Port 3 4, 8, 9 $n ok \n #n M2306 P3 V1000\n Set report interval (ms) 4, 8, 9 30 @11 P3 N12 V4\n Value in cm 13 14 15 16 Fan Electromagnet Temperature & Humidity #n M2304 P4\n Deinit 4, 8, 9 $n ok \n #n M2305 P4 N13\n Init Module 13 in Port 4 4, 8, 9 $n ok \n #n M2307 P4 V120\n Set Fan speed(0~255) 4, 8, 9 $n ok \n #n M2304 P3\n Deinit 3, 4, 5, 8, 9 $n ok \n #n M2305 P3 N14\n Init Module 14 in Port 3 3, 4, 5, 8, 9 $n ok \n #n M2307 P3 V1\n 1:turn on 0: turn off 3, 4, 5, 8, 9 $n ok \n #n M2304 P0\n Deinit 0 $n ok \n #n M2305 P0 N15\n Init Module 15 in Port 0 0 $n ok \n #n M2306 P0 V1000\n Set report interval (ms) 0 @11 P0 N15 T23.3 H82.2\n #n M2304 P3\n Deinit 3, 4, 5, 8, 9 $n ok \n #n M2305 P3 N16\n Init Module 16 in Port 3 3, 4, 5, 8, 9 $n ok \n Set report interval (ms) 3, 4, 5, 8, 9 PIR Sensor @11 P3 N16 V1\n #n M2306 P3 V1000\n 1: Motion detected 0: no motion detected 17 #n M2304 P0\n Deinit 0 $n ok \n #n M2305 P0 N17\n Init Module 17 in Port 0 0 $n ok \n #n M2307 P0 R128 G120 B10\n Set backlight color 0 $n ok \n 0 $n ok \n 0 $n ok \n 1602 LCD 0: turn off display #n M2307 P0 T0\n 1: turn on display 2: clear #n M2307 P0 V0 STest\n 18 V(0~1): row selected S: the display string #n M2304 P3\n Deinit 3, 4, 5, 8, 9 $n ok \n #n M2305 P3 N18\n Init Module 18 in Port 3 3, 4, 5, 8, 9 $n ok \n Set report interval (ms) 3, 4, 5, 8, 9 Line Finder @11 P3 N18 V1\n #n M2306 P3 V1000\n 0: object detected 1: no object detected 31 19 Infrared Reflective Sensor #n M2304 P3\n Deinit 3, 4, 5, 8, 9 $n ok \n #n M2305 P3 N19\n Init Module 19 in Port 3 3, 4, 5, 8, 9 $n ok \n Set report interval (ms) 3, 4, 5, 8, 9 @11 P3 N19 V1\n #n M2306 P3 V1000\n 1: object detected 0: no object detected 20 EMG Detector #n M2304 P1\n Deinit 1, 2, 13 $n ok \n #n M2305 P1 N20\n Init Module 20 in Port 1 1, 2, 13 $n ok \n #n M2306 P1 V1000\n Set report interval (ms) 1, 2, 13 @11 P1 N20 V583\n d. Different modes for uArm Swift Pro Since different types of the end-effectors have different length and height, so we designed the command M2400, which could help us to fit the uArm into different situations easily. With this command, there is no need to concern about how to adjust the parameters for different situations. Currently we offer 4 kinds of mode: M2400 S0: Normal mode (end-effector tools: suction) M2400 S1: Laser mode (end-effector tools: laser) M2400 S2: 3D printing mode (end-effector tools: hot end) M2400 S3: Universal holder mode (end-effector tools: universal holder) For the gripper, there is no special mode since gripper has the fingers and can rotate horizontally. 32 uArm Community UFACTORY Official Forum uArm User Facebook Group uArm Technical Support Release Note Version Note 1.0.0 Setup the document Tony 1.0.1 Update the working range Tony 1.0.2 Tony 1.0.3 Add the mounting and detail size of each part Add detail steps of Arduino upload Add the relationship of left/right motor with the upper and lower arm 1.0.4 Modify several commands of Gcode David 1.0.5 Modify several commands of Gcode Daniel 1.0.6 Modify the content of switching to 2nd UART Add the dimensions of the base of uArm Swift Pro V1.1 Daniel 33 Tony
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