Manoj, Jayadip and Aditi we're involved in board design, fabrication and troubleshooting.
We decided to divide the slave part in 4 design.
1.Design for Nema-17 motor board -4 nos.(for 4 pole each)
2.End effector board -1 No.
3.Servo motor board-1 No.
4.Shield for Arduino
For electronic part of nema -17 motor board we referred this [tutorial](https://howtomechatronics.com/tutorials/arduino/how-to-control-stepper-motor-with-a4988-driver-and-arduino/)(by how to mechatronics)
We used magnetic lock by shorting the coils to lock the end-effector position during power off mode. It is necessary as the end effector is hanging.
Manoj wanted to making a version of [Distributed Dataflow Machine Controllers](https://gitlab.cba.mit.edu/squidworks/squidworks). He used [firmata](https://www.arduino.cc/en/Reference/Firmata) in Arduino to setup a master-board along with [johnny-five](http://johnny-five.io/api/board/) to program the virtual machine in Javascript. He the along with his sub-groupmates made stepper motor driver boards which consist of 'A4988 driver along with attiny44 MCU' as I2C slave boards. He used wire library for communication.
Manoj wanted to making a version of [Distributed Dataflow Machine Controllers](https://gitlab.cba.mit.edu/squidworks/squidworks). He used [firmata](https://www.arduino.cc/en/Reference/Firmata) in Arduino to setup a master-board along with [johnny-five](http://johnny-five.io/api/board/) to program the virtual machine in Javascript. He the along with his sub-groupmates made stepper motor driver boards which consist of 'A4988 driver along with attiny44 MCU' as I2C slave boards. He used wire library for communication.
