I am using an XY plotter with a Doesbot control board, which currently runs on GRBL firmware. The board has two Y-axis motors, and I want to integrate two additional servos alongside the existing pen-lift servo. Additionally, I have limit switches that need to trigger specific events. My goal is to implement a customized firmware solution that allows me to independently control each motor and servo, as well as respond to limit switch inputs. Requirements: 1. Custom Firmware Development: • Modify or rewrite the GRBL firmware to support independent control of two additional servos. • Ensure each servo/motor can be controlled with unique G-code commands (e.g., M03 for Pen Servo 1, M05 for Servo 2, etc.). • Map unused pins/ports on the Deesbot board for these servos and limit switches. 2. Limit Switch Integration: • Program the firmware so that when specific limit switches are triggered, corresponding actions (e.g., stopping motion, activating a servo) are executed. 3. Unique Pin Mapping: • Identify available pins on the Deesbot board for servos and limit switches. • Configure the pin assignments to avoid conflicts with existing functions. 4. Dual Y-Axis Configuration: • Maintain the dual Y-axis setup, ensuring smooth synchronization between Y1 and Y2 motors. 5. G-code Command Expansion: • Expand the G-code library to handle new commands for controlling the additional servos and responding to limit switches.