After few tests we had difficulty with the temperature of the driverz A4988. That's why we have now two fan oriented direclty to the drivers. It working great.

Here we have the "drawer" below the robot where there are the arduino and raspberry Pi

One of our objectif is to be able to read the G-code. For now it's not implemented but we are able to guive a position in x,y,z with an orientation to the tool.