{"id":50528368,"url":"https://github.com/steven-tbd/esp32-stepper-kinetic-control","last_synced_at":"2026-06-03T10:30:25.504Z","repository":{"id":306128404,"uuid":"1024727913","full_name":"steven-tbd/esp32-stepper-kinetic-control","owner":"steven-tbd","description":"A prototype for a kinetic hanging sculpture using an ESP32, stepper motors, and C++ to create dynamic, wave-like movements.","archived":false,"fork":false,"pushed_at":"2026-05-20T00:16:16.000Z","size":13190,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-05-20T03:16:19.032Z","etag":null,"topics":["arduino","esp32","kinetic-art","kinetic-sculpture","physical-computing","prototype","stepper-motor"],"latest_commit_sha":null,"homepage":"https://stevenmbenton.com/kinetic-hanging-sculpture/","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/steven-tbd.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-07-23T06:49:07.000Z","updated_at":"2026-05-20T00:16:19.000Z","dependencies_parsed_at":"2025-07-23T21:35:14.752Z","dependency_job_id":null,"html_url":"https://github.com/steven-tbd/esp32-stepper-kinetic-control","commit_stats":null,"previous_names":["steven-tbd/kinetic-hanging-sculpture","steven-tbd/esp32-stepper-kinetic-control"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/steven-tbd/esp32-stepper-kinetic-control","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/steven-tbd%2Fesp32-stepper-kinetic-control","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/steven-tbd%2Fesp32-stepper-kinetic-control/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/steven-tbd%2Fesp32-stepper-kinetic-control/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/steven-tbd%2Fesp32-stepper-kinetic-control/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/steven-tbd","download_url":"https://codeload.github.com/steven-tbd/esp32-stepper-kinetic-control/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/steven-tbd%2Fesp32-stepper-kinetic-control/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":33860960,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-06-03T02:00:06.370Z","response_time":59,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["arduino","esp32","kinetic-art","kinetic-sculpture","physical-computing","prototype","stepper-motor"],"created_at":"2026-06-03T10:30:22.763Z","updated_at":"2026-06-03T10:30:25.494Z","avatar_url":"https://github.com/steven-tbd.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ESP32 Stepper Motor Control\n\nA self-contained prototype for a hanging kinetic sculpture. Five suspended wooden balls rise and fall through a phase-offset sine wave pattern, each driven by an independent NEMA 17 stepper motor and custom spool winch.\n\n## Overview\n\nThe motion is generated directly on the ESP32 using the `AccelStepper` library. A sine function with phase offsets across the five motors creates a coordinated wave pattern. The system runs without a connected computer after the sketch is uploaded.\n\nThe winch mechanism uses off-the-shelf plastic thread spools attached to NEMA 17 motor shafts via flange couplings. No custom 3D printing required.\n\n[YouTube Demo](https://youtu.be/g7hZ9SLusAE)\n\n## Signal Flow\n\n```\n[ESP32] ---\u003e (STEP/DIR) ---\u003e [5x TMC2209] ---\u003e (Phase Current) ---\u003e [5x NEMA 17] ---\u003e (Braided Line) ---\u003e [5x Suspended Wooden Balls]\n```\n\n**Controller-generated motion.** The ESP32 computes the sine wave pattern directly and drives the motors through the TMC2209 drivers. No external software runs during operation.\n\n**Quiet, continuous movement.** TMC2209 drivers run the motors with lower noise and smoother motion than basic stepper drivers. That matters for a sculpture meant to run continuously.\n\n## Hardware\n\n**ESP32-DevKitC-32E** microcontroller\n\n**NEMA 17** stepper motors (one per winch)\n\n**TMC2209** stepper drivers (one per motor)\n\n**12 V power supply** (Mean Well LRS-100-12 recommended)\n\n**Custom winch mechanisms** (see Winch Mechanism section below)\n\n## Software\n\n- **Arduino IDE** with the ESP32 board manager installed\n- **Arduino library:** `AccelStepper` by Mike McCauley\n\n## Setup\n\n1. Connect each stepper motor to a TMC2209 driver. Connect STEP/DIR pins to the GPIO pins specified in the `.ino` file. Power the motors from the 12 V supply.\n2. Open the `.ino` file in the Arduino IDE and upload it to the ESP32.\n3. After a 10-second startup delay, the motors run a brief settling movement, then begin the continuous sine wave sequence.\n\n## Winch Mechanism\n\nEach winch uses a plastic thread spool attached to a NEMA 17 motor shaft via a 5mm flange coupling. The coupling bolts to the flat face of the spool with M3 screws. Braided fishing line ties to the spool, and a small eye hook attaches the wooden ball to the other end.\n\nThe goal was a mechanism that could be built and replicated without custom fabrication. These parts are all available off the shelf.\n\n![Winch Components](winch-1.jpg)\n![Winch Components](winch-2.jpg)\n![Assembled Winch](winch-3.jpg)\n\n### Bill of Materials (per winch)\n\n| Part | Product Link | Notes |\n| --- | --- | --- |\n| **Stepper Motor** | NEMA 17 | Standard 5mm D-shaft |\n| **Motor Shaft Coupler** | [5mm Flange Coupling](https://www.amazon.com/dp/B092Z7Q3X9) | Connects motor to spool |\n| **Spool** | [2.64\" Plastic Wire Spools](https://www.amazon.com/dp/B07X3Y2Z8J) | Winch drum |\n| **Suspended Object** | [2-inch (50mm) Wooden Ball](https://www.amazon.com/dp/B089Q7XJ6Y) | Kinetic element |\n| **Line** | [15lb Braided Fishing Line](https://www.amazon.com/dp/B07D37T6Y8) | Low stretch, high strength |\n| **Fasteners** | M3 Screws \u0026 Nuts (included with coupler), [Small Eye Hooks](https://www.amazon.com/dp/B09C1Y2Z7X) | Assembly and line attachment |\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsteven-tbd%2Fesp32-stepper-kinetic-control","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsteven-tbd%2Fesp32-stepper-kinetic-control","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsteven-tbd%2Fesp32-stepper-kinetic-control/lists"}