Wade Robotics Marlin

Custom firmware for DexArm robotic arms, maintained by Wade Robotics.

Features

• 🤖 Real-time Position Reporting - M114 R support for live position feedback
• ⚡ Over-the-Air Updates - Flash firmware directly from Wade Robotics Studio
• 🔧 DexArm Optimizations - Tuned for SCARA kinematics and pick-and-place operations
• 🛡️ Safe Bootloader - Software-triggered updates with rollback protection

Quick Start

Option 1: Wade Robotics Studio (Recommended)

1. Download Wade Robotics Studio
2. Connect your DexArm
3. Go to Settings → Firmware Update
4. Click "Check for Updates" and follow the prompts

Option 2: Download Pre-built Firmware

Download the latest firmware.bin from Releases.

Option 3: Build from Source

# Install PlatformIO
pip install platformio

# Clone and build
git clone https://github.com/Wade-Robotics/Marlin_For_DexArm.git
cd Marlin_For_DexArm
pio run -e DEXARM_V3_2

Firmware will be at .pio/build/DEXARM_V3_2/firmware.bin

Flashing Firmware

Via Wade Robotics Studio

The easiest method - handles everything automatically including bootloader entry.

Manual Method

1. Connect to DexArm via serial terminal (115200 baud)
2. Send M2002 then M2003 to enter bootloader
3. Use YMODEM protocol to transfer firmware.bin
4. Send 3 to execute the new firmware

Supported Hardware

Board	MCU	Status
DexArm V3.2	STM32F407ZGT6	✅ Primary
DexArm V3.1	STM32F407ZGT6	✅ Supported

Configuration

Key configuration files:

• Marlin/Configuration.h - Basic settings
• Marlin/Configuration_adv.h - Advanced features (M114_REALTIME enabled here)

Support

For help with Wade Robotics Marlin firmware:

• 📋 Open an Issue - Bug reports and feature requests
• 💬 Discussions - Questions and community help
• 📧 Contact Wade Robotics directly for commercial support

Contributing

1. Fork this repository
2. Create a feature branch from DexArm_Dev
3. Submit a Pull Request to main

Builds are automatically triggered on push. Merges to main create new releases.

License

This project is licensed under the GNU General Public License v3.0 - see the LICENSE file for details.

This firmware is based on the open-source Marlin project. Per the GPL license, the source code is provided and must remain open.

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Wade Robotics
Making robotics accessible