Arduino Robotics CNC Control Coding

I’m building a compact robot powered by an Arduino board that must first navigate autonomously and then behave like a miniature CNC machine once it reaches its work zone. The mechanical side is ready—motors, gears, sensors, and the Arduino are mounted—but the firmware that ties everything together still needs to be written.

The task centres on clean, modular C++ in the latest Arduino IDE. Core responsibilities include sensing and localisation, PID-based motor control, and a lightweight G-code-style interpreter that lets the robot trace precise tool paths after it parks itself. Safety checks, start-up self-tests, and serial output for debugging have to be baked in as well.

I will supply the exact pin map, motor specs, and sensor data sheets; quick bench tests on my end will confirm each milestone.

Deliverables
• Fully commented .ino/.cpp and .h files that compile without errors in Arduino IDE
• README covering library dependencies, wiring, and a step-by-step flash/run guide
• Demonstration routine: robot leaves a start point, avoids obstacles, stops on a marker, then engraves a 100 mm square within ±1 mm accuracy, reporting completion over serial

If anything about the sensor suite or motor drivers is unclear, let me know and I’ll provide details immediately so we can keep the iterations fast and focused.