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Hi Mark! You can use any Arduino (e.g.: Arduino Uno), because the only special capability of the Arduino 101 that I used in development is the secondary UART (I didn't use the BT and gyro functions of the 101). The secondary UART is not required but it is easier to debug the robot arm if you have one. If you want multiple UARTs than the Arduino Mega is a good choice.
If you use an Arduino with only one UART you have to slightly change the code: replace all occurrences of Serial1 with Serial
Thank you! :)
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