The LittleArm does have a teaching pendant. And now it can be used to actually guide the robot through a sequence of actions.
How it works is sensors in the training pendant guides the servos of the LittleArm. When we want to record a waypoint a button on the base of the pendant records the current positions of the servos. Those positions are then stored on the computer that the arduino is connected to.
When the user wants to run the sequence, they use the GUI to send the stored commands to the arduino, whcih then stiches them together into a trajectory.
Code will be posted soon.