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Hi

As far as I know ( based on my previous experience )

1. First, you need to create a CAD model of the robot.
2. Create URDF of the model.
3. In your ROS (Raspberry Pi) open Moveit and upload the urdf.
4. Define all the joints and necessary things in moveit and create the moveit configuration file.
5. Now roslaunch this configuration file (demo.launch usually) which opens your model in Rviz.
6. Rviz will be publishing the joint angles to the jointstates topic.
7. In your hardware microcontroller (eg. Arduino if you are using ) write a node to subscribe to this jointstates topic.
8. All the computation will be done by ros and the final commands are given to the arm (hardware).
9. You can see your arm moving to the desired position as seen in Rviz simulation.

I hope you got a rough idea of the entire procedure.