I am looking at a DoBot Magician with a DoBot linear rail add-on. This allows the DoBot base to move along a distance of 1m while the arm continues to do whatever it wants as usual. This whole setup is mostly controlled from the DoBotStudio software for drawing, picking things up and moving them, laser etching and so on. The other method of running the setup is to use the provided API to send commands to the system. The API is implemented in the firmware on the robot. However to 3D print with the DoBot needs a different firmware to be loaded. There is no source available for the firmware, and it does not have the option to add an extra stepper / axis. The controller board driving the DoBot seems to have both a micro-controller (possibly arduino compatible) and an FPGA. My understanding is that it uses the FPGA to implement closed-loop control of at least joint 2 and 3 (possibly 1 as well). The closed-loop control is what makes this hardware unsuitable for a simple grbl/arduino controller, which is where machinekit comes in. So my question is, does a machinekit capable beaglebone cape exist with enough inputs to allow the reading of 2 or 3 encoders to allow implementation of a closed loop control that can be configured to drive the hardware directly? (the current control hardware would need to unplugged and replaced obviously. big ups to DoBot for actually using plugs not hard soldering on the hardware).
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