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M1- and M1+ are motor inputs that should come from the outputs of the HBridge; you control current and direction to the motor using the HBridge. I like the L9119S hbridge; it's inexpensive and efficient. I used it in this project as an example.


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Dronebot workshop has a good video on communicating with I2C between two Arduinos; https://www.youtube.com/watch?v=PnG4fO5_vU4


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Well, i would address one of your problem : Weird result One thing you need to understand while working with serial manipulator control inverse kinematic is concept of multi solution. With understanding that 6 dof serial manipulator usually consist of anthromorphic arm (basic 2 dof planar robot) and spherical wrist, therefore a multi solution possibly ...


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