Hi Danny, You robot controlling program looks cool.
Is it freely available for use on the Thor Robot Arm yet?
I am having issues controlling all six axis together with the GRBL Universal GCode Sender, I seem to be able to control only 3 or 4 axis, the top two do not move. I have tested them and know that they do move on my test rig and also tested by driving them on the ART1-3 driver motors.
Any help on this would be great.