The code to control a cartesian robot arm using an Arduino Uno.
The code reads content from the serial port (Arduino must be plugged in to send commands).
These commands can be sent from any other program over the serial port, making it decoupled.
The Arduino will read cartesian distances from the serial port, interpret them, and them move the stepper motors for each axis.
The Arduino then sends an acknowledgement to the serial port, signifiying that it's ready for another command.
The external programs should be setup to handle the buffering and ensure that commands are only send over after an acknowledgement so they're not skipped over or missed.