Firmware

PhysiClaw’s hardware talks to the computer through the FluidNC firmware. The computer sends G-code (the GRBL protocol) to drive the motors and switch the solenoid, performing taps, swipes, and other gestures.

Prerequisites

• MKS DLC32 V2.1 control board.
• USB-B to USB-A data cable.
• 12 V 2 A power supply.

Flash

Connect the board over USB, turn on the 12 V power supply, then run:

bash

physiclaw flash

Verification

Make sure both motors and the solenoid are connected, then run:

bash

physiclaw testdrive

Try X10 / Y10 and check that each move follows the axes illustrated above. Run tap to check the solenoid works.

Tip

Motor A goes to the board’s Y1 port, motor B to X, and the solenoid to the spindle terminal.