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Lenbok,
Thank you for all of the above. I have downloaded your version of the firmware and done a verify compile using the Arduino Uno as the target. (I have had one of these in my toolbox for some time but never used it). Can you confirm that I am heading in the right direction:

  1. Print the Glasswalker STLs
  2. Use the firmware from your GitHub repo
  3. Wire things up as shown in the schematic in the http://pleasantsoftware.compleasantsoftware.com pages pointed to by Glasswalker via the Spherebot thing.

Looking forward to building this and to getting it working - vitamins not in my toolbox are on order.
Alan