commit 89dc1b755ccac57651065d5dd895a70bf5d9a5b0
Author: Vincenzo-Zinfollino-Crea3d <developer@crearobotics.com>
Date:   Tue Mar 3 10:26:27 2026 +0100

    Our First Commit! Hello There !

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diff --git a/03 - DIGITAL TWIN (ROBODK)/Primo-v1-1.robot b/03 - DIGITAL TWIN (ROBODK)/Primo-v1-1.robot
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diff --git a/03 - DIGITAL TWIN (ROBODK)/Tucano2.robot b/03 - DIGITAL TWIN (ROBODK)/Tucano2.robot
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diff --git a/04 - OS/Config/README.md b/04 - OS/Config/README.md
new file mode 100644
index 0000000..d3f101d
--- /dev/null
+++ b/04 - OS/Config/README.md	
@@ -0,0 +1,101 @@
+# Configurazione
+
+Questa procedura permette di installare la configurazione completa (configurazione base, macro e demo) su una microSD che contiene già Duet Web Control (DWC) e Duet Software Framework (DSF).
+
+⚠️ Non eliminare la cartella `/www`, che contiene l’interfaccia web.
+
+## Cosa ti serve
+
+- La microSD della Duet
+- Un PC con lettore microSD
+- Il pacchetto di configurazione fornito
+
+## Procedura guidata
+
+### 1 - Spegni la Duet
+
+Spegnere completamente l’alimentazione prima di rimuovere la microSD.
+
+### 2 - Inserisci la microSD nel PC
+
+- Rimuovi la microSD dalla Duet
+- Inseriscila nel PC
+- Se presente un file immagine, montalo per accedere al filesystem
+
+### 3 - Naviga nel filesystem corretto
+
+Se stai lavorando su una microSD con sistema Linux (DSF), segui questo percorso:
+
+```
+rootfs
+ └── opt
+     └── dsf
+         └── sd
+```
+
+La cartella `sd` rappresenta la root effettiva della scheda SD vista da RepRapFirmware.
+
+Apri quindi la cartella:
+
+```
+rootfs/opt/dsf/sd
+```
+
+### 4 - Verifica la struttura
+
+All’interno della cartella `sd` dovresti trovare:
+
+```
+/sys
+/macros
+/gcodes
+/www
+```
+
+⚠️ La cartella `/www` contiene Duet Web Control e non deve essere eliminata.
+
+### 5 - Copia i file di configurazione
+
+Dal pacchetto fornito:
+
+- Copia la cartella `/sys`
+- Copia la cartella `/macros`
+- Copia la cartella `/gcodes` (se presente)
+
+Incollale dentro:
+
+```
+rootfs/opt/dsf/sd
+```
+
+Quando richiesto:
+
+✔ Conferma la sovrascrittura
+
+❌ Non eliminare o modificare la cartella `/www`
+
+### 6 - Smonta ed espelli in sicurezza
+
+- Chiudi eventuali file aperti
+- Espelli correttamente la microSD
+- Rimuovila dal PC
+
+### 7 - Reinserisci la microSD nella Duet
+
+- Inserisci la scheda
+- Accendi la Duet
+
+Collegandoti via browser all’indirizzo IP della macchina troverai:
+
+- Configurazione già attiva
+- Macro operative disponibili
+- File demo caricati
+- Interfaccia DWC funzionante
+
+## ⚠️ Controlli al primo avvio
+
+Prima di eseguire programmi automatici:
+
+- Verifica verso degli assi
+- Controlla finecorsa
+- Esegui piccoli movimenti manuali di test
\ No newline at end of file
diff --git a/04 - OS/Config/firmware/Duet2Firmware_SBC.bin b/04 - OS/Config/firmware/Duet2Firmware_SBC.bin
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diff --git a/04 - OS/Config/gcodes/A1.gcode b/04 - OS/Config/gcodes/A1.gcode
new file mode 100644
index 0000000..801548d
--- /dev/null
+++ b/04 - OS/Config/gcodes/A1.gcode	
@@ -0,0 +1,38 @@
+G90
+; Program generated by RoboDK v5.8.0 for Primo_v1_1 on 07/11/2025 15:10:16
+; Using nominal kinematics.
+; TOOL_FRAME X0.000 Y0.000 Z120.000 R0.000 P0.000 W0.000
+G1 X-112.967000 Y-54.941000 Z-54.503700 A1.031760 B-22.970700 C1.120590
+G1 X-71.86 Y42.18 Z-9.22 A93.36 B-37.21 C20.82 
+M280 P7 S258
+G4 S2.000
+G1 X-72 Y56.98 Z-7.47 A94.95 B-24.19 C22.52
+M280 P7 S57
+G4 S2.000
+G1 X-71.86 Y42.18 Z-9.22 A93.36 B-37.21 C20.82 
+G1 X-135.085000 Y48.48 Z1.09 A91.52 B-43.66 C46.02
+G4 S2.000
+G1 X-135.085000 Y61.99 Z2.18 A92.02 B-31.25 C46.65
+M280 P7 S258
+G4 S2.000
+G1 X-135.085000 Y48.48 Z1.09 A91.52 B-43.66 C46.02
+M280 P7 S57
+G1 X-112.967000 Y-54.941000 Z-54.503700 A1.031760 B-22.970700 C1.120590
+G1 X-135.085000 Y48.48 Z1.09 A91.52 B-43.66 C46.02
+M280 P7 S258
+G4 S2.000
+G1 X-135.085000 Y61.99 Z2.18 A92.02 B-31.25 C46.65
+M280 P7 S57
+G4 S2.000
+G1 X-135.085000 Y48.48 Z1.09 A91.52 B-43.66 C46.02
+G1 X-71.86 Y42.18 Z-9.22 A93.36 B-37.21 C20.82 
+G4 S2.000
+G1 X-72 Y56.98 Z-7.47 A94.95 B-24.19 C22.52
+M280 P7 S258
+G4 S2.000
+G1 X-71.86 Y42.18 Z-9.22 A93.36 B-37.21 C20.82 
+M280 P7 S57
+G1 X-112.967000 Y-54.941000 Z-54.503700 A1.031760 B-22.970700 C1.120590
+G1 X-112.967000 Y-54.941000 Z-54.503700 A1.031760 B-22.970700 C1.120590
+
+
diff --git a/04 - OS/Config/macros/Brake/BrakeOFF b/04 - OS/Config/macros/Brake/BrakeOFF
new file mode 100644
index 0000000..5923d37
--- /dev/null
+++ b/04 - OS/Config/macros/Brake/BrakeOFF	
@@ -0,0 +1,4 @@
+M17 Y
+M42 P3 S1
+G4 P1000
+M42 P3 S0.6
\ No newline at end of file
diff --git a/04 - OS/Config/macros/Brake/BrakeON b/04 - OS/Config/macros/Brake/BrakeON
new file mode 100644
index 0000000..c740dc3
--- /dev/null
+++ b/04 - OS/Config/macros/Brake/BrakeON	
@@ -0,0 +1 @@
+M42 P3 S0
diff --git a/04 - OS/Config/macros/Demo.g b/04 - OS/Config/macros/Demo.g
new file mode 100644
index 0000000..029a04b
--- /dev/null
+++ b/04 - OS/Config/macros/Demo.g	
@@ -0,0 +1,24 @@
+var x = 3 ; Numero di cicli totali
+var n = 2 ; Numero di ripetizioni gcode dimostrativo
+
+; Contatore
+var j = 1 
+var i = 1 
+
+while var.j<var.x
+	G28
+	; Contatore
+	set var.i = 1 
+	
+	while var.i < var.n
+        G4 P50                            ; Pausa di 50ms
+		M98 P"0:/gcodes/A1.gcode"
+        set var.i = var.i + 1             ; Usa 'set' per modificare una variabile esistente
+	
+	M18
+	G4 S300                            ; Pausa di 5 min
+	set var.j = var.j + 1           ; incremento il ciclo esterno
+
+
+    
+; echo "Ciclo terminato. Valore finale di i: " ^ var.if
\ No newline at end of file
diff --git a/04 - OS/Config/macros/Gripper/GripperClose b/04 - OS/Config/macros/Gripper/GripperClose
new file mode 100644
index 0000000..15e3df3
--- /dev/null
+++ b/04 - OS/Config/macros/Gripper/GripperClose	
@@ -0,0 +1,6 @@
+;M280: Set servo position
+;Parameters
+;Pnnn Servo index
+;Snnn Angle (see notes) or microseconds
+
+M280 P7 S10 
\ No newline at end of file
diff --git a/04 - OS/Config/macros/Gripper/GripperOpen b/04 - OS/Config/macros/Gripper/GripperOpen
new file mode 100644
index 0000000..87a4201
--- /dev/null
+++ b/04 - OS/Config/macros/Gripper/GripperOpen	
@@ -0,0 +1,6 @@
+;M280: Set servo position
+;Parameters
+;Pnnn Servo index
+;Snnn Angle (see notes) or microseconds
+
+M280 P7 S170 
\ No newline at end of file
diff --git a/04 - OS/Config/macros/Led/ATTIVA Motori.g b/04 - OS/Config/macros/Led/ATTIVA Motori.g
new file mode 100644
index 0000000..720aad1
--- /dev/null
+++ b/04 - OS/Config/macros/Led/ATTIVA Motori.g	
@@ -0,0 +1,2 @@
+M17
+M42 P4 S1 ; Accende il LED collegato a OUT8
diff --git a/04 - OS/Config/macros/Led/LedOFF b/04 - OS/Config/macros/Led/LedOFF
new file mode 100644
index 0000000..c4eefb1
--- /dev/null
+++ b/04 - OS/Config/macros/Led/LedOFF	
@@ -0,0 +1,11 @@
+;M150
+;Rnnn Red component, 0-255
+;Unnn Green component, 0-255
+;Bnnn Blue component, 0-255
+;Wnnn White component, 0-255 (Only for RGBW NeoPixel)
+;Pnnn Brightness, 0-255
+;Ynn Brightness, 0-31 (alternative to P 0-255)
+;Snnn Number of individual LEDs to set to these colours, default 1
+;Fn Following command action. F0 (default) means this is the last command for the LED strip, so the next M150 command starts at the beginning of the strip. F1 means ;further M150 commands for the remainder of the strip follow this one.
+;En LED strip number, default 0. See M950 for defining the LED strip number, pin and LED type.
+M150 E0 r0 u0 b0 P128 S20 F0 
\ No newline at end of file
diff --git a/04 - OS/Config/macros/Led/LedON_Arancio b/04 - OS/Config/macros/Led/LedON_Arancio
new file mode 100644
index 0000000..ddeb74b
--- /dev/null
+++ b/04 - OS/Config/macros/Led/LedON_Arancio	
@@ -0,0 +1,11 @@
+;M150
+;Rnnn Red component, 0-255
+;Unnn Green component, 0-255
+;Bnnn Blue component, 0-255
+;Wnnn White component, 0-255 (Only for RGBW NeoPixel)
+;Pnnn Brightness, 0-255
+;Ynn Brightness, 0-31 (alternative to P 0-255)
+;Snnn Number of individual LEDs to set to these colours, default 1
+;Fn Following command action. F0 (default) means this is the last command for the LED strip, so the next M150 command starts at the beginning of the strip. F1 means ;further M150 commands for the remainder of the strip follow this one.
+;En LED strip number, default 0. See M950 for defining the LED strip number, pin and LED type.
+M150 E0 r100 u10 P255 S18 F0 
\ No newline at end of file
diff --git a/04 - OS/Config/macros/Led/LedON_Italia b/04 - OS/Config/macros/Led/LedON_Italia
new file mode 100644
index 0000000..082cef9
--- /dev/null
+++ b/04 - OS/Config/macros/Led/LedON_Italia	
@@ -0,0 +1,13 @@
+;M150
+;Rnnn Red component, 0-255
+;Unnn Green component, 0-255
+;Bnnn Blue component, 0-255
+;Wnnn White component, 0-255 (Only for RGBW NeoPixel)
+;Pnnn Brightness, 0-255
+;Ynn Brightness, 0-31 (alternative to P 0-255)
+;Snnn Number of individual LEDs to set to these colours, default 1
+;Fn Following command action. F0 (default) means this is the last command for the LED strip, so the next M150 command starts at the beginning of the strip. F1 means ;further M150 commands for the remainder of the strip follow this one.
+;En LED strip number, default 0. See M950 for defining the LED strip number, pin and LED type.
+;M150 E0 r100 u10 P128 S10 F0 
+M150 E0 r255 P255 S9 F1 
+M150 E0 u255 P255 S9 F0 
\ No newline at end of file
diff --git a/04 - OS/Config/sys/config.g b/04 - OS/Config/sys/config.g
new file mode 100644
index 0000000..4d9d324
--- /dev/null
+++ b/04 - OS/Config/sys/config.g	
@@ -0,0 +1,89 @@
+; Configuration file for RepRapFirmware on Duet 3 Main Board 6HC
+; executed by the firmware on start-up
+;
+; generated by RepRapFirmware Configuration Tool v3.5.4 on Mon Oct 14 2024 12:14:30 GMT+0200 (Ora legale dell’Europa centrale)
+
+
+
+; General
+G90                                                                  ; absolute coordinates
+M83                                                                  ; relative extruder moves
+M550 P"primo"                                                        ; set hostname
+
+; Network
+;M552 P0.0.0.0 S1 ; configure Ethernet adapter
+;M586 P0 S1 ; configure HTTP
+
+; Smart Drivers 2160
+M569 P0.0 S0 D2                                                      ; driver 0.0 goes backwards (X axis)
+M569 P0.1 S1 D2                                                      ; driver 0.1 goes forwards (Y axis)
+M569 P0.2 S0 D2                                                      ; driver 0.2 goes backwards (Z axis)
+M569 P0.3 S0 D2                                                      ; driver 0.3 goes backwards (A axis)
+M569 P0.4 S1 D2                                                      ; driver 0.4 goes forwards (B axis)
+M569 P0.5 S1 D2                                                      ; driver 0.5 goes backwards (C axis)
+
+;Attivazione Driver
+;M17 YZ
+
+; Motor Idle Current Reduction
+M906 I50                                                             ; set motor current idle factor
+M917 X70 Y70 Z70 A70 B70 C70                                         ; Set motor standstill current reduction
+;M84 S30 ; set motor current idle timeout
+
+; Axes
+M584 X0.0 Y0.1 Z0.2 A0.3 B0.4 C0.5                                   ; set axis mapping
+M350 X4 Y4 Z4 A4 B4 C4 I1                                            ; configure microstepping with interpolation
+M906 X1800 Y1800 Z1800 A1800 B1800 C1800                             ; set axis driver currents
+M92 X14.222 Y177.778 Z180.952 A8.889 B8.889 C2.2222                  ; configure steps per mm
+M208 X-160:160 Y-76:76 Z-55:90 A-156:156 B-134.5:134.5 C-153.3:153.3 ; set minimum and maximum axis limits MODIFICA: Z-60:90
+M566 X10 Y500 Z500 A500 B500 C500                                   ; set maximum instantaneous acc changes (mm/min)
+M203 X5000 Y3000 Z3000 A7000 B5000 C70000                             ; set maximum speeds (mm/min)
+M201 X100 Y100 Z100 A100 B100 C100                                   ; set accelerations (mm/s^2)
+
+; Kinematics
+M669 K0
+
+; Endstops
+M574 X2 S3
+M574 Y1 S3
+M574 Z1 S3
+M574 A2 S3
+M574 B2 S3
+M574 C2 S3
+
+M915 X R0 F0
+
+;Servo 
+M950 S7 C"out9"
+
+; Duet 3 led pin
+M950 E0 C"led" T1                                                    ; create a RGB Dotstar 'led' strip on the LED port and set SPI frequency to 20kHz Q20000
+;out0 5v
+M950 P1 C"out0"                                                      ;
+M950 P3 C"out1"                                                      ;
+ 
+;Led Pulsante
+;M950 P3 C"out7" ;
+;M950 P4 C"out8" ; Crea un'uscita digitale su OUT8
+
+;M950 J6 C"^!io0.in"; Configura il pulsante su IO_0
+;M950 J5 C"^!io1.in"; Configura il pulsante su IO_1
+
+;M581 P6 T1 S1; R0 ; Attiva l'interrupt su IO_0 per eseguire la macro trigger2.g al fronte di salita
+;M581 P5 T3 S1; R0 ; Attiva l'interrupt su IO_0 per eseguire la macro trigger2.g al fronte di salita
+
+; Stop
+;M950 J1 C"io0.in"                   ; Definisce il pin per il pulsante
+;global buttonPressCount = 0         ; Inizializza la variabile di stato
+;M581 P1 T2 S1 R0                    ; Esegue l'interrupt trigger1.g al fronte di salita
+
+;Ventola
+;M308 S10 Y"drivers" A"Duet stepper drivers"  ; RICONTROLLA
+;M950 F1 C"out7"     ; Definisci la ventola 1 collegata a OUT7 con una frequenza PWM di 500 Hz
+;M106 P1 T40 H10     ; Accendi la ventola 1 la velocità della ventola scala da 0% a 100% quando la temperatura sale da 40°C a 70°C.
+
+
+; Miscellaneous
+M501                                                                 ; load saved parameters from non-volatile memory
+
+;M98 P"0:/macros/5v/5vON";
\ No newline at end of file
diff --git a/04 - OS/Config/sys/config.g.bak b/04 - OS/Config/sys/config.g.bak
new file mode 100644
index 0000000..233b87a
--- /dev/null
+++ b/04 - OS/Config/sys/config.g.bak	
@@ -0,0 +1,89 @@
+; Configuration file for RepRapFirmware on Duet 3 Main Board 6HC
+; executed by the firmware on start-up
+;
+; generated by RepRapFirmware Configuration Tool v3.5.4 on Mon Oct 14 2024 12:14:30 GMT+0200 (Ora legale dell’Europa centrale)
+
+
+
+; General
+G90                                                                  ; absolute coordinates
+M83                                                                  ; relative extruder moves
+M550 P"primo"                                                        ; set hostname
+
+; Network
+;M552 P0.0.0.0 S1 ; configure Ethernet adapter
+;M586 P0 S1 ; configure HTTP
+
+; Smart Drivers 2160
+M569 P0.0 S0 D2                                                      ; driver 0.0 goes backwards (X axis)
+M569 P0.1 S1 D2                                                      ; driver 0.1 goes forwards (Y axis)
+M569 P0.2 S0 D2                                                      ; driver 0.2 goes backwards (Z axis)
+M569 P0.3 S0 D2                                                      ; driver 0.3 goes backwards (A axis)
+M569 P0.4 S1 D2                                                      ; driver 0.4 goes forwards (B axis)
+M569 P0.5 S1 D2                                                      ; driver 0.5 goes backwards (C axis)
+
+;Attivazione Driver
+;M17 YZ
+
+; Motor Idle Current Reduction
+M906 I100                                                            ; set motor current idle factor
+M917 X70 Y70 Z70 A70 B70 C70                                         ; Set motor standstill current reduction
+;M84 S30 ; set motor current idle timeout
+
+; Axes
+M584 X0.0 Y0.1 Z0.2 A0.3 B0.4 C0.5                                   ; set axis mapping
+M350 X4 Y4 Z4 A4 B4 C4 I1                                            ; configure microstepping with interpolation
+M906 X1800 Y1800 Z1800 A1800 B1800 C1800                             ; set axis driver currents
+M92 X14.222 Y177.778 Z180.952 A8.889 B8.889 C2.2222                  ; configure steps per mm
+M208 X-160:160 Y-76:76 Z-55:90 A-156:156 B-134.5:134.5 C-153.3:153.3 ; set minimum and maximum axis limits MODIFICA: Z-60:90
+M566 X10 Y500 Z500 A500 B500 C500                                   ; set maximum instantaneous acc changes (mm/min)
+M203 X5000 Y3000 Z3000 A7000 B5000 C70000                             ; set maximum speeds (mm/min)
+M201 X100 Y100 Z100 A100 B100 C100                                   ; set accelerations (mm/s^2)
+
+; Kinematics
+M669 K0
+
+; Endstops
+M574 X2 S3
+M574 Y1 S3
+M574 Z1 S3
+M574 A2 S3
+M574 B2 S3
+M574 C2 S3
+
+M915 X R0 F0
+
+;Servo 
+M950 S7 C"out9"
+
+; Duet 3 led pin
+M950 E0 C"led" T1                                                    ; create a RGB Dotstar 'led' strip on the LED port and set SPI frequency to 20kHz Q20000
+;out0 5v
+M950 P1 C"out0"                                                      ;
+M950 P3 C"out1"                                                      ;
+ 
+;Led Pulsante
+;M950 P3 C"out7" ;
+;M950 P4 C"out8" ; Crea un'uscita digitale su OUT8
+
+;M950 J6 C"^!io0.in"; Configura il pulsante su IO_0
+;M950 J5 C"^!io1.in"; Configura il pulsante su IO_1
+
+;M581 P6 T1 S1; R0 ; Attiva l'interrupt su IO_0 per eseguire la macro trigger2.g al fronte di salita
+;M581 P5 T3 S1; R0 ; Attiva l'interrupt su IO_0 per eseguire la macro trigger2.g al fronte di salita
+
+; Stop
+;M950 J1 C"io0.in"                   ; Definisce il pin per il pulsante
+;global buttonPressCount = 0         ; Inizializza la variabile di stato
+;M581 P1 T2 S1 R0                    ; Esegue l'interrupt trigger1.g al fronte di salita
+
+;Ventola
+;M308 S10 Y"drivers" A"Duet stepper drivers"  ; RICONTROLLA
+;M950 F1 C"out7"     ; Definisci la ventola 1 collegata a OUT7 con una frequenza PWM di 500 Hz
+;M106 P1 T40 H10     ; Accendi la ventola 1 la velocità della ventola scala da 0% a 100% quando la temperatura sale da 40°C a 70°C.
+
+
+; Miscellaneous
+M501                                                                 ; load saved parameters from non-volatile memory
+
+;M98 P"0:/macros/5v/5vON";
\ No newline at end of file
diff --git a/04 - OS/Config/sys/configtool.json b/04 - OS/Config/sys/configtool.json
new file mode 100644
index 0000000..69bbe5a
--- /dev/null
+++ b/04 - OS/Config/sys/configtool.json	
@@ -0,0 +1 @@
+{"boards":[{"accelerometer":null,"bootloaderFileName":null,"canAddress":0,"closedLoop":null,"directDisplay":null,"drivers":null,"firmwareDate":"","firmwareFileName":"Duet3Firmware_MB6HC.bin","firmwareName":"","firmwareVersion":"","freeRam":null,"iapFileNameSBC":"Duet3_SBCiap32_MB6HC.bin","iapFileNameSD":"Duet3_SDiap32_MB6HC.bin","inductiveSensor":null,"maxHeaters":10,"maxMotors":6,"mcuTemp":null,"name":"Duet 3 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,"damping":0.1,"durations":[],"frequency":40,"reductionLimit":10,"type":"none"},"speedFactor":1,"travelAcceleration":10000,"virtualEPos":0,"workplaceNumber":0},"network":{"corsSite":null,"hostname":"duet","interfaces":[{"activeProtocols":["http"],"actualIP":"192.168.1.123","configuredIP":"0.0.0.0","dnsServer":"192.168.1.254","firmwareVersion":null,"gateway":"192.168.1.254","mac":null,"numReconnects":null,"signal":null,"speed":null,"ssid":null,"state":"active","subnet":"255.255.255.0","type":"lan"}],"name":"Duet 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\ No newline at end of file
diff --git a/04 - OS/Config/sys/dwc-settings.json b/04 - OS/Config/sys/dwc-settings.json
new file mode 100644
index 0000000..13195de
--- /dev/null
+++ b/04 - OS/Config/sys/dwc-settings.json	
@@ -0,0 +1 @@
+{"main":{"language":"en","lastHostname":"192.168.1.95","darkTheme":true,"useBinaryPrefix":true,"disableAutoComplete":false,"dashboardMode":"CNC","bottomNavigation":true,"numericInputs":false,"iconMenu":false,"displayUnits":"mm","decimalPlaces":1,"settingsStorageLocal":false,"settingsSaveDelay":500,"cacheStorageLocal":true,"cacheSaveDelay":1000,"notifications":{"errorsPersistent":true,"timeout":5000},"behaviour":{"jobStart":true,"promptDuringFilamentChange":true},"webcam":{"enabled":false,"url":"http://[HOSTNAME]:8081/0/stream","updateInterval":0,"liveUrl":"","useFix":false,"embedded":false,"rotation":0,"flip":"none"},"enabledPlugins":["ObjectModelBrowser"],"plugins":{}},"machine":{"ajaxRetries":2,"retryDelay":200,"updateInterval":250,"fileTransferRetryThreshold":358400,"crcUploads":true,"ignoreFileTimestamps":false,"pingInterval":2000,"updateDelay":0,"babystepAmount":0.05,"checkVersions":true,"displayedExtraTemperatures":[],"displayedExtruders":[0,1,2,3,4,5],"displayedFans":[-1,0,1,2],"moveSteps":{"X":[100,50,10,1,0.1],"Y":[100,50,10,1,0.1],"Z":[50,50,5,0.5,0.05],"default":[100,50,10,1,0.1]},"moveFeedrate":6000,"toolChangeMacros":[],"extruderAmounts":[100,50,20,10,5,1],"extruderFeedrates":[50,10,5,2,1],"temperatures":{"tool":{"active":[0],"standby":[0]},"bed":{"active":[0],"standby":[0]},"chamber":[0]},"groupTools":true,"singleBedControl":false,"singleChamberControl":false,"spindleRPM":[10000,75000,5000,2500,1000,0],"enabledPlugins":[],"plugins":{}}}
\ No newline at end of file
diff --git a/04 - OS/Config/sys/homea.g b/04 - OS/Config/sys/homea.g
new file mode 100644
index 0000000..7bff6e4
--- /dev/null
+++ b/04 - OS/Config/sys/homea.g	
@@ -0,0 +1,16 @@
+; homea.g
+; called to home the A axis
+M201.1 X35 Y100 Z100 A150 B100 C100     ; set accelerations (mm/s^2)
+
+;Setting for stall detection endstop
+M915 A S1 F0 H112 R1
+M913 A70            ; reduce current motor
+M564 H0 S0          ; allow movment outside
+
+G91                 ; relative positioning
+G1 H0 A-10 F1000
+G1 H1 A410 F10000   ; move slowly to A axis endstop once more (second pass)
+G90                 ; absolute positioning
+
+M913 X100           ; reset current motor
+M564 H1 S1
diff --git a/04 - OS/Config/sys/homeall.g b/04 - OS/Config/sys/homeall.g
new file mode 100644
index 0000000..493647d
--- /dev/null
+++ b/04 - OS/Config/sys/homeall.g	
@@ -0,0 +1,55 @@
+;M150 E0 R255 Y31 S44 F0       ; set first 20 LEDs to red, half brightness, more commands for the strip follow
+
+;M566 X1 Y1 Z1 A1 B1 C1                                    ; set maximum instantaneous speed changes (mm/min)
+;M203 X5000 Y5000 Z5000 A5000 B5000 C5000                        ; set maximum speeds (mm/min)
+;M201 X100 Y100 Z100 A100 B100 C100                              ; set accelerations (mm/s^2)
+
+M98 P"0:/macros/Brake/BrakeOFF"
+
+
+   ; Definizione delle variabili
+var homeSpeedFast = 1800   ; Velocità di homing veloce
+var homeSpeedSlow = 360    ; Velocità di homing lenta
+var retractDistance = 10    ; Distanza di retrazione dagli endstop
+
+    ; Posizioni di standby per ogni giunto
+var standbyPositionX = 0
+var standbyPositionY = 0
+var standbyPositionZ = 0
+var standbyPositionA = 0
+var standbyPositionB = 0
+var standbyPositionC = 0
+
+    ; homeall.g
+
+M98 P"homey.g"
+G4 p0.5
+
+M98 P"homez.g"
+G4 p0.5
+
+M98 P"homex.g"
+G4 p0.5
+
+G1 X{var.standbyPositionX} Y{var.standbyPositionY} Z{var.standbyPositionZ} F{var.homeSpeedFast}
+G4 p1
+
+
+M98 P"homea.g"
+
+G1 A{var.standbyPositionA} F{var.homeSpeedFast}
+G4 p0.5
+
+M98 P"homeb.g"
+
+G1 B{var.standbyPositionB} F{var.homeSpeedFast}
+G4 p0.5
+
+M98 P"homec.g"
+
+G1 C{var.standbyPositionC} F{var.homeSpeedFast}
+G4 p0.5
+
+
+
+;M150 E0 R0 U255 Y31 S44 F0  
\ No newline at end of file
diff --git a/04 - OS/Config/sys/homeb.g b/04 - OS/Config/sys/homeb.g
new file mode 100644
index 0000000..febc09e
--- /dev/null
+++ b/04 - OS/Config/sys/homeb.g	
@@ -0,0 +1,16 @@
+; homeb.g
+; called to home the B axis
+;Setting for stall detection endstop
+M201.1 B100
+
+M915 B S1 F0 H100 R0
+M913 B70            ; reduce current motor         
+M564 H0 S0          ; allow movment outside
+
+G91                 ; relative positioning
+G1 H0 B-10 F5000
+G1 H1 B310 F10000   ; move slowly to B axis endstop once more (second pass)
+G90                 ; absolute positioning
+                    
+M913 B100           ; reset current motor
+M564 H1 S1
diff --git a/04 - OS/Config/sys/homec.g b/04 - OS/Config/sys/homec.g
new file mode 100644
index 0000000..840ec33
--- /dev/null
+++ b/04 - OS/Config/sys/homec.g	
@@ -0,0 +1,16 @@
+; homec.g
+; called to home the C axis
+
+M201.1 C80
+M915 C S1 F0 H40 R0
+                    ;reduce current motor
+M913 C70
+M564 H0 S0          ;allow movment outside
+
+G91                 ; relative positioning
+G1 H0 C-10 F3000
+G1 H1 C400 F7000    ; move slowly to Y axis endstop once more (second pass)
+G90                 ; absolute positioning
+                    ;reset current motor
+M913 C100
+M564 H1 S1
diff --git a/04 - OS/Config/sys/homex.g b/04 - OS/Config/sys/homex.g
new file mode 100644
index 0000000..0ce3680
--- /dev/null
+++ b/04 - OS/Config/sys/homex.g	
@@ -0,0 +1,18 @@
+; homex.g
+; called to home the X axis
+; Setting for stall detection endstop
+
+M201.1 X35 Y100 Z100 A100 B100 C100                                   ; set accelerations (mm/s^2)
+
+M915 X S1 F0 H200 R0 
+M913 X80            ; reduce current motor
+M564 H0 S0          ;allow movment outside
+
+G91                 ; relative positioning
+G1 H0 X-10 F3000
+G1 H1 X450 F5000    ; move slowly to Y axis endstop once more (second pass)
+G90                 ; absolute positioning
+
+M913 X100
+M564 H1 S1
+
diff --git a/04 - OS/Config/sys/homey.g b/04 - OS/Config/sys/homey.g
new file mode 100644
index 0000000..ec9c5a4
--- /dev/null
+++ b/04 - OS/Config/sys/homey.g	
@@ -0,0 +1,17 @@
+; homey.g
+; called to home the Y axis
+;Setting for stall detection endstop
+M98 P"0:/macros/Brake/BrakeOFF"
+M915 Y S0 F0 H693 R0
+
+M913 Y80            ; reduce current motor
+M564 H0 S0          ; allow movment outside
+
+G91                 ; relative positioning
+G1 H1 Y1 F1000
+G4 P100
+G1 H1 Y-210 F1000   ; move slowly to Y axis endstop once more (second pass)
+G90                 ; absolute positioning
+
+M913 Y100           ; reset current motor
+M564 H1 S1
diff --git a/04 - OS/Config/sys/homez.g b/04 - OS/Config/sys/homez.g
new file mode 100644
index 0000000..9122498
--- /dev/null
+++ b/04 - OS/Config/sys/homez.g	
@@ -0,0 +1,17 @@
+; homez.g
+; called to home the z axis
+;Setting for stall detection endstop
+M98 P"0:/macros/Brake/BrakeOFF"
+
+M915 Z S0 F0 H559 R0
+M913 Z70            ; reduce current motor
+M564 H0 S0          ; allow movment outside
+
+G91                 ; relative positioning
+G1 H1 Z1 F1000
+G4 P100
+G1 H1 Z-310 F4000   ; move slowly to Y axis endstop once more (second pass)
+G90                 ; absolute positioning
+
+M913 Z100           ; reset current motor
+M564 H1 S1
diff --git a/04 - OS/README.md b/04 - OS/README.md
new file mode 100644
index 0000000..b6e94b5
--- /dev/null
+++ b/04 - OS/README.md	
@@ -0,0 +1,3 @@
+## CONFIGURAZIONE
+Nella cartella *Config* trovi tutto il necessario a configurare correttamente il Raspberry. Abbiamo predisposto una piccola guida e tutti i file necessari a crare correttamente una configurazione completa del softwere.
+
diff --git a/LICENSE.md b/LICENSE.md
new file mode 100644
index 0000000..6932936
--- /dev/null
+++ b/LICENSE.md
@@ -0,0 +1,49 @@
+## Crea Robotics Open Hardware License (CROHL) – v1.0
+
+© 2026 Crea Robotics – Crea 3D S.R.L.
+
+This license governs the use of open hardware released by Crea Robotics.
+
+#### 1. Purpose
+The Crea Robotics Open Hardware License (CROHL) is intended to encourage education, research, experimentation, repairability, and community-driven innovation, while protecting the commercial, industrial, and brand value of Crea Robotics hardware.
+	
+#### 2. Definitions 
+**Licensed Material:** All files and documentation explicitly released under CROHL. \
+**Licensor:** Crea Robotics – Crea 3D S.R.L. \
+**Licensee:** Any individual or legal entity exercising rights under this license. \
+**Commercial Use:** Sale, distribution, or offering of complete products, kits, or services based on the Licensed Material.
+	
+#### 3. Scope of Licensed Material 
+This license applies to mechanical CAD files (F3D, STEP, STL, 3MF), bills of materials (BOM), schematics, wiring diagrams, assembly documentation, demo files, and other materials explicitly marked as released under CROHL. Trademarks, logos, and product names are excluded. 
+	
+#### 4. Rights Granted 
+Subject to the terms of this license, the Licensor grants the Licensee a non-exclusive, worldwide, royalty-free right to access, study, modify, manufacture, assemble, and use the Licensed Material for personal, educational, research, and internal non-commercial purposes.
+	 
+#### 5. Redistribution and Derivative Works
+Redistribution of original or modified Licensed Material is permitted only if: (a) this license is included in full; (b) modifications are clearly documented; (c) attribution to Crea Robotics is maintained; (d) all derivatives are released under CROHL.
+	
+#### 6. Commercial Restrictions 
+Without a separate written commercial agreement, the Licensee may not sell, distribute, or offer complete machines, kits, OEM products, or commercial services based on the Licensed Material, nor claim official compatibility or endorsement by Crea Robotics.
+	
+#### 7. Trademarks
+This license does not grant permission to use any trademarks, logos, or product names of Crea Robotics, including but not limited to the name PRIMO.
+	
+#### 8. Patent License 
+The Licensor grants a non-exclusive, royalty-free patent license necessary to exercise the rights granted under this license. This patent license terminates if the Licensee initiates patent litigation against the Licensor relating to the Licensed Material.
+
+#### 9. Artificial Intelligence Restriction 
+The Licensed Material may not be used for automated data extraction, dataset generation, or training of artificial intelligence or machine learning models without explicit written permission. 
+	
+#### 10. Disclaimer of Warranty 
+The Licensed Material is provided “AS IS”, without warranty of any kind. The Licensee assumes all risks related to safety, regulatory compliance, and use. 
+	 
+#### 11. Limitation of Liability 
+In no event shall Crea Robotics be liable for any damages arising from the use or inability to use the Licensed Material. 
+	
+#### 12. Termination
+This license is automatically terminated if its terms are violated. Upon termination, the Licensee must cease distribution of the Licensed Material. 
+	
+#### 13. Governing Law
+This license shall be governed by and interpreted in accordance with the laws of Italy and the European Union. 
+
+ END OF LICENSE
\ No newline at end of file
diff --git a/README-EN.md b/README-EN.md
new file mode 100644
index 0000000..90142f5
--- /dev/null
+++ b/README-EN.md
@@ -0,0 +1,73 @@
+<p align="center">
+<img alt=" Primo v1.1  Your first friendly robotic arm"  src="media-readme/BANNER-PRIMO.png">
+</p>
+
+# Anthropomorphic Manipulator
+Primo is our entirely 3D-printed anthropomorphic manipulator, designed and manufactured by Crea3d for the STEM sector.
+
+### 🦾 Main Features 
+* **6 Degrees of Freedom (6 DOF):** Open kinematic chain manipulator, inspired by industrial robots.
+* **Harmonic Reducers:** Ensure smooth movements with high precision.
+
+* **Open Hardware:** STL files available for 3D printing .
+
+* **Accessible Electronics:** Based on Duet for easy programming.
+
+* **Software Compatibility:** Supports professional simulation and programming interfaces like RoboDK.
+
+* **Modular:** Easy to assemble, repair, and modify.
+
+## 🔖 Description
+Primo is an open-source 6-axis robotic arm entirely made using 3D printing. Designed for educational and training purposes, its goal is to allow everyone to discover the world of robotics by providing the opportunity to apply key concepts in the field.
+
+### 🔍 What can I find in this repository?
+In this repository, you will find all the material necessary to recreate Primo. The various folders contain all the CAD files for printing the mechanical structure, lists of both mechanical and electrical components, connection diagrams, and the required software.
+
+* **01-CAD:** Contains the files for 3D printing and the 
+assembly manual.
+* **02-BOM:** Mechanical and electrical Bills of Materials (BOM).
+* **03-Digital Twin:** Contains the digital twin files for correctly interfacing Primo with RoboDK.
+* **04-OS:** Contains the files needed to mount the OS image on the Raspberry Pi, preloaded with all the necessary tools and features.
+
+
+
+#### And if something goes wrong 🤕?
+If a printed part breaks, no problem; thanks to the available files, you can simply reprint it yourself without having to wait for spare parts or contact support.
+
+In the 01-CAD folder, you will find both STL files—ideal if you want to experiment with different printing parameters and materials—and 3MF files, which are already optimized and ready to be sent directly to the printer.
+
+## 🚀 Getting Started
+
+#### 📖 Documentation
+The complete documentation, including assembly guides and software configuration, is available here:
+
+👉 **[Official PRIMO Manual](https://crearobotics.github.io/PRIMO-Docs/cos_e_la_robotica/)**
+
+
+#### 🛠️ Assembly
+Step-by-step instructions for mechanical and electronic assembly are detailed in our official documentation.
+
+* [Mechanical assembly guide](https://crearobotics.github.io/PRIMO-Docs/)
+
+* [Electronic connection diagram](https://crearobotics.github.io/PRIMO-Docs/)
+
+Alternatively, follow the step-by-step videos on our [YouTube](https://www.youtube.com/@CreaRobotics). channel.
+
+## 🤝 Contribute
+PRIMO is a living project. Feel free to open Issues to report problems or Pull Requests to propose improvements to the CAD files or the code.
+
+# ⚠️ Safety Warnings
+Before assembling or using PRIMO, carefully read the following safety guidelines.
+
+**Stable Installation:** Ensure the robot is correctly installed on a solid and stable surface, with sufficient surrounding space to avoid impacts and collisions during movement.
+
+**Emergency Behavior:** Cutting the power or activating the emergency stop button (E-Stop) may cause the arm to lower slightly. Although this movement is dampened, do not touch the robot while the emergency stop is activated to avoid crushing or collisions.
+
+**Usage Environment:** Do not use the robot in unsuitable environments (e.g., outdoors). Do not install PRIMO in damp environments, near water, or in hazardous environments (e.g., presence of flammable gases).
+
+**Heat and Temperature:** The robot and motors generate heat during operation. Do not touch or handle the robot (particularly the motor area) during operation or immediately after prolonged use: high temperatures can cause burns.
+
+**Safety Distance:** When PRIMO is active, maintain a safe distance from moving parts. Ensure the emergency stop button is always in a position that is easy and quick to reach to prevent injuries.
+
+Designed and crafted with ❤️ by [Crea3d](https://www.crea3d.com/it/).*
+
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..9854def
--- /dev/null
+++ b/README.md
@@ -0,0 +1,81 @@
+<p allign="center">
+<img alt=" Primo v1.1  Your first friendly robotic arm"  src="media-readme/BANNER-PRIMO.png"> 
+</p>
+
+
+
+[![English versionson](https://img.shields.io/badge/lang-en-red.svg)](README-EN.md)
+
+# Manipolatore Antropomorfo 
+Primo è il nostro manipolatore antropomorfo interamente stampato in 3d, progettato e realizzato da [Crea3d](https://www.crea3d.com/it/) per il settore STEM.
+### 🦾Caratteristiche Principali <!-- (v0.0) -->
+
+* **6 Gradi di Libertà (6 DOF):** Manipolatore a catena cinematica aperta, ispirato ai robot industriali.
+* **Riduttori armonici:**  Garantiscono movimenti fluidi ad alta precisione.
+* **Open Hardware:** File STL disponibili per la stampa 3D <!-- (consigliato PPS-CF o PLA rinforzato) -->.
+* **Elettronica Accessibile:** Basato su Duet per una facile programmazione.
+* **Compatibilità Software:** Supporta interfacce di programmazione software di simulazione professionali come **RoboDK**.
+* **Modulare:** Facile da assemblare, riparare e modificare.
+
+## 🔖Descrizione 
+
+Primo è un braccio robotico a 6 assi open source interamente realizzato utilizzando la stampa 3d. Progettato a scopo educativo e formativo, con l' obiettivo di far scoprire il mondo della robotica a tutti, dando la possibilità di mettere in campo i concetti chiave
+
+### 🔍 Cosa trovo in questa repository ?
+ 
+ In questa repository troverai tutto il materiale necessario a ricreare Primo. Nelle varie cartelle troverai tutti i file CAD che permettono la stampa della struttura meccanica, le liste di componenti sia meccanici che elettrici, e i diagrammi delle connessioni e i software necessari.
+
+* **01-CAD**: Contiene i file per la stampa 3D e i manuali di montaggio. 
+* **02-BOM:** Liste componenti (BOM) meccanici ed elettrici
+* **03-Digital Twin:** Contiene il modello gemello digitale per poterlo utilizzare con RoboDk. 
+* **04-OS:** Contiene i file necessari a montare l'immagine dell'OS sul Raspberry Pi, precaricata con tutti i tool e le configurazioni necessarie.
+
+
+
+
+#### E se qualcosa va storto 🤕?
+Se un pezzo stampato dovesse rompersi, nessun problema, grazie ai file a disposizione, puoi semplicemente ristamparlo in autonomia, senza dover attendere pezzi di ricambio o contattare l'assistenza.
+
+Nella cartella 01-CAD troverai sia i file STL, ideali se vuoi sperimentare con parametri di stampa e materiali diversi,  già ottimizzati e pronti per essere stampati.
+
+## 🚀 Per Iniziare
+
+#### 📖 Documentazione
+
+La documentazione completa, le guide di montaggio e la configurazione software, è disponibile qui: 
+
+👉 **[Manuale Ufficiale PRIMO](https://crearobotics.github.io/PRIMO-Docs/cos_e_la_robotica/)**
+
+#### 🛠️ Assemblaggio
+
+Le istruzioni passo-passo per l'assemblaggio meccanico ed elettronico sono dettagliate nella nostra documentazione ufficiale.
+
+* [Guida all'assemblaggio meccanico](https://crearobotics.github.io/PRIMO-Docs/)
+* [Schema collegamenti elettronici](https://crearobotics.github.io/PRIMO-Docs/)
+
+Oppure segui i video passo passo sul nostro canale [YouTube](https://www.youtube.com/@CreaRobotics).
+
+
+## 🤝 Contribuisci
+
+PRIMO è un progetto vivo. Sentiti libero di aprire *Issues* per segnalare problemi o *Pull Requests* per proporre miglioramenti ai file CAD o al codice. 
+
+<!--Oppure scrivi una mail a: (mettere la mail)-->
+
+
+# ⚠️ Avvertenze di Sicurezza 
+
+Prima di assemblare o utilizzare PRIMO, leggere attentamente le seguenti direttive di sicurezza.
+###### **Installazione Stabile:** Assicurarsi che il robot sia installato correttamente su una superficie solida e stabile, con spazio sufficiente attorno per evitare urti e collisioni durante il movimento. 
+
+######  **Comportamento in Emergenza:** Il taglio dell'alimentazione o l'attivazione del pulsante di arresto di emergenza (E-Stop) possono causare un leggero abbassamento del braccio. Sebbene questo movimento sia ammortizzato, **non toccare il robot** mentre si attiva l'arresto di emergenza per evitare schiacciamenti o collisioni.
+
+###### **Ambiente di Utilizzo:** Non utilizzare il robot in ambienti non idonei (es. all'aperto). Non installare PRIMO in ambienti umidi, vicino all'acqua o in ambienti pericolosi (es. presenza di gas infiammabili)..
+
+###### **Calore e Temperatura:** Il robot e i motori generano calore durante il funzionamento. Non toccare o maneggiare il robot (in particolare la zona motori) durante l'operazione o subito dopo un uso prolungato: le alte temperature possono causare scottature. 
+
+###### **Distanza di Sicurezza:** Quando PRIMO è attivo, mantenere una distanza di sicurezza dalle parti in movimento. Assicurarsi che il **pulsante di arresto di emergenza** sia sempre in una posizione facile e rapida da raggiungere per prevenire infortuni.
+
+*Progettato e realizzato con il ❤️ da [Crea3d](https://www.crea3d.com/it/).*
+
+
diff --git a/media-readme/BANNER-PRIMO.png b/media-readme/BANNER-PRIMO.png
new file mode 100644
index 0000000..b13da42
Binary files /dev/null and b/media-readme/BANNER-PRIMO.png differ