Building and improving the Thor+ robot arm

Today I mounted the Ultratronics board in the big case and the stepper motor in the base. I printed the base with PETG. I have to change the printer settings because the filament was a little bit stringy. 

The Ultratronics Pro board arrived. I made a few connectors and a custom pcb for the logic level shifter. On the right side of the board there is room for the USB host.

For the wires I used the following colors

• Black = 0V
• Red = 5V
• Yellow = 3.3V
• Green = RX
• White = TX / Data
• Blue = Clock

The electronic sheet Danny provide was very useful.

I also fitted the Polulu drivers with (different colored) pin headers. I followed the guide to set the current limit. The right driver is set to 2A. The other ones are set to 0.4A. 

After reading al the info of the Thor and Thor+ robot arm I decided that like this so much that I want to build one myself. The fist part is finished. It is the big case which is going to be mounted to the base.