This was my graduation project in year 2000 using a german cross compiler with the aim to control the arm 5 axis movement in C++ .
I used an old motherboard that used a floppy disk. We used a floppy disk with the XDB debugging mode from CADUL cross compiler tools. Those allowed us to download our C++ code robot controlling code to the motherboard using a serial cable.
Instead of the RC servo controller, I used software to send a train of pulses from the parallel port to control the movement of the robot arm.
Basic working principles of mini servo motors. A small servo is a motor that converts electrical signals into mechanical motion. It is a rotary or a linear actuator capable of turning to a predetermined position, exactly as commanded. Servos can also stably hold and re-establish position.
Funding was the biggest challenge
Importing procedure was complicated in my country
No servo controller
No wheels for the robot
CADUL AG was sold to Intel after 1 year of completing the project.