Down to the wire! A year ago I said at the Bay Area maker faire I would have my new arm at next year's event. Now here I am waiting for the design of the second version and I'm really feeling the pressure. I want to deliver so badly!

In the meantime I've been working on the software. I have enough robots now that I can see how their programs overlap. I'm bringing them all together into a single framework so that they can work together and share a common core.

It occurs to me that I've made three different hypocycloidal boxes and this is my second attempt at the latest. That means I've learned... six ways to not make a gearbox.