ZAF Software
The ZAF+ hardware is controlled by an Arduino and a raspberry pi. Arduino is controlling the valves, pumps and food servo. Raspberry Pi communicates with Arduino over serial communication and orchestrate the entire ZAF+ hardware. Drawing below summarize hardware connections and further information can be found in here.
We have developed software pieces for both the Raspberry Pi and the mega Arduinos we used. One can find below the instructions to install and use our software.