Another project milestone has been reached ….. The CNC mechanism is now automated and a few hundred lines of code written to perform a basic demonstration of all the servo motors running simultaneously. No special servo library is used, which makes coding easier as everything is low level and there's no restriction in the number of channels or 'special' tasks like 'pause' or 'wait until X axis has reached end point' ………. I'm very pleased with how it's worked out and there's still plenty of memory left on the TC275 MCU to write a nice little algorithm for performing an actual weeding routine.

The next stage is to put a current sensor on the rotating claw driver power supply. This will limit the amount of work that the claw does, which itself depends on soil conditions and the depth that the claw is working at. This way, no expensive LIDAR or radar is required and there *should* not be any problem with accuracy and missing any patches of low lying soil - the soil levels are not dead flat, particularly after the tractor has just been over it.