5 axes robot arm controller, Arduino, Grasshopper and Firefly

This controller is inspired by Andrew Payne's creation, http://liftarchitects.squarespace.com/journal/2011/10/20/a-five-axis-robotic-motion-controller-for-designers.html. The model was designed for making by 3D printer and laser cutter. You can download the STL files for 3D printing by this link, and it also includes the Grasshopper definition file. https://grabcad.com/library/5-axis-controller-1