Now it is a 4 DOF arm that has a whole bunch of code and website to get it all. Visit 3D Printed Robots to get all of the cad and code for this project.
I am also turning it into a kit. If you would like to preorder one, then go to the website and let us know.
It has been a fun project. At this point we have GUI control of the arm and the kinematics are getting tuned in (difficult since the arm is not a precision machine). In the near future we will add a recording capability to the GUI and get a kinematic controller completed that will allow the use to put in a position in taskspace and have the arm move to it.