Uarm Swift hand made

Good day! I’m trying to make my version Uarm Swift but I do not have enough information :с I need circuit diagram for Uarm gripper board. I also need a firmware Uarm Gripper for ARM processor (source .C and .h files) if it is possible ^o^
Sorry for my english, he is very bad ><
Thanks for the help!!
My email for communication Stepan2699@gmail.com


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If you use ARM 32 you may need build the firmware by yourself.

No, no, you misunderstood me. You use STM32F030x4 in your Gripper, this can be seen from the circuit diagram and the image. I very need the firmware of this microprocessor

check it here: gripper_v3.1.zip - Google ドライブ