Web controlled robotic arm with Pi

A web controlled robotic arm based on the Raspberry Pi.

There is a daemon running in the background called web_arm.py, which sets up a FIFO (arm.fifo) to receive commands.  The cgi-bin is xy.py which receives x,y coordinates from a click on an image, then the cgi-bin sends the coordinates to the fifo.  web_arm performs inverse kinematics and drives the servo controller over the serial port, and the servos drive the arm.

Full code on GitHub.