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https://github.com/acvigue/tranquilfirmware
ESP32 firmware for custom kinetic drawing robots
https://github.com/acvigue/tranquilfirmware
drawing esp32 steppers
Last synced: 2 months ago
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ESP32 firmware for custom kinetic drawing robots
- Host: GitHub
- URL: https://github.com/acvigue/tranquilfirmware
- Owner: acvigue
- License: mit
- Created: 2023-05-19T19:32:00.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-12-06T20:42:19.000Z (about 1 year ago)
- Last Synced: 2024-05-01T18:41:58.350Z (9 months ago)
- Topics: drawing, esp32, steppers
- Language: C++
- Homepage: https://vigue.me
- Size: 95 MB
- Stars: 18
- Watchers: 2
- Forks: 4
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
- License: LICENSE
Awesome Lists containing this project
README
# TranquilFirmware
[](https://opensource.org/licenses/)
[](https://www.codefactor.io/repository/github/acvigue/tranquilfirmware)
Firmware for the ESP32-based Tranquil kinetic sand drawing robots.
## Requirements
This is *not* a drop-in replacement for Rob Dobson's original RBotFirmware! Many things have been changed/moved around.
Hardware:
- Stepper drivers (preferably TMC2208/2209, generics can be used)
- Endstops
- ESP32, must have at least 4MB flash for proper OTA operation
- SD Card - can either use MMC mode or SPI mode, SPI mode can use any pins, albeit is much slower.
> This project requires an operational [TranquilAPI](https://github.com/acvigue/TranquilAPI) server! Run your own on CloudFlare Workers!
## Notes
The firmware is setup to automatically check for updates from a central server. The firmware binaries are built upon commit to this repository and are automatically uploaded to the OTA server.
See [cloudflare-ota-server](https://github.com/acvigue/cloudflare-ota-server) for more information.
## Robot Configuration Reference
Robot configuration is stored in NVRAM and can be viewed by sending GET request to `/settings/robot` and can be changed by POSTing JSON to `/settings/robot`
Similarly, wifi/ntp/scheduler/light settings can be changed at
- /settings/wifi < Network settings (supports WPA2-Enterprise)
- /settings/ntp < time zone and ntp server
- /settings/scheduler < stores scheduled commands
- /settings/lights < LED lights
- /settings/security < used to store PIN code
- /settings/tranquil < only used for storing TranquilAPI encrypted JWT
> LED strip _must_ be attached to GPIO5
```js
//See RobotConfig.example.json for an uncommented version.
{
"robotConfig": {
"robotType": "TranquilSmall", //custom robot config name, please change if building your own and submitting PR.
"cmdsAtStart": "", //commands to run on startup, seperated by ';' ex. "G28" to home.
"evaluators": {
"thrContinue": 0, //must be 0
"thrThetaMirrored": 1, //to mirror theta axis or not (flip drawings)
"thrThetaOffsetAngle": 0.5 //rotate drawings around the bed (DEGREES)
},
"robotGeom": {
"model": "SandBotRotary", //keep SandBotRotary
"motionController": {
"chip": "TMC2209", //tmc2208 or tmc2209, omit whole object if not using Trinamics, if you are, rest of params are required.
"TX1": 32, //UART for drv1
"TX2": 33, //UART for drv2, rest of params are self explanatory.
"driver_TOFF": 4, //hysterisis TOFF time
"run_current": 600, //motor run current (mA)
"microsteps": 16, //motor microsteps
"stealthChop": 1 //stealthchop, sets stealthchop2 for 2209, stealthchop1 for 2208,2130
},
"homing": {
//homing string, axis A is rotary, B linear.
"homingSeq": "FR3;A+38400n;B+3200;#;A+38400N;B+3200;#;A+200;#B+400;#;B+30000n;#;B-30000N;#;B-340;#;A=h;B=h;$",
"maxHomingSecs": 120
},
"blockDistanceMM": 1, //movement resolution in mm (keep at 1, lower stalls bot)
"allowOutOfBounds": 0, //keep 0
"stepEnablePin": "25", //motor enable GPIO pin
"stepEnLev": 0, //motor active logic level
"stepDisableSecs": 30, //seconds after last move to turn motors off
"axis0": {
"maxSpeed": 15, //no idea
"maxAcc": 25, //no idea
"maxRPM": 4, //max RPM for rotary axis
"stepsPerRot": 38400, //steps (including microsteps) for one full rotation of the primary rotary axis
"stepPin": "19", //step pin for this axis
"dirnPin": "21", //dir pin for this axis
"dirnRev": "1", //is direction reversed?
"endStop0": {
"sensePin": "22", //endstop GPIO pin
"actLvl": 0, //triggered at what level?
"inputType": "INPUT"
}
},
"axis1": { //same as above, changes highlighted
"maxSpeed": 15,
"maxAcc": 25,
"maxRPM": 30,
"stepsPerRot": 3200,
"unitsPerRot": 40.5, //for each rotation of the upper central gear, how much does the linear arm move in MM
"maxVal": 145, //maximum MM the linear arm can go out from center
"stepPin": "27",
"dirnRev": "1",
"dirnPin": "3",
"endStop0": { "sensePin": "23", "actLvl": 0, "inputType": "INPUT" }
}
},
"fileManager": {
"spiffsEnabled": 1, //must be 1
"spiffsFormatIfCorrupt": 1, //self explanatory, i advise against it.
"sdEnabled": 1, //must be 1
"sdSPI": 0, //OPTIONAL, set to 1 for sdspi, if omitted, SDMMC is used.
"sdMISO": 0, //REQUIRED FOR SDSPI, omit for SDMMC, miso pin
"sdMOSI": 0, //REQUIRED FOR SDSPI, omit for SDMMC, mosi pin
"sdCLK": 0, //REQUIRED FOR SDSPI, omit for SDMMC, clock pin
"sdCS": 0, //REQUIRED FOR SDSPI, omit for SDMMC, CS pin
"sdLanes": 1 //1 or 4, sets bus width for SDMMC, not used for SDSPI
},
"ledStrip": {
"ledRGBW": 1, //1 for SK6812, 0 for ws2812
"ledCount": "143", //led count
"tslEnabled": "1", //does robot have TSL2561
"tslSDA": "16", //if so, i2c pins.
"tslSCL": "17" // ^^^
}
},
"cmdSched": { "jobs": [] }, //don't edit, doesn't do anything but fw still relies on it being here
"name": "Tranquil" //robot name, not hostname, that is set in wifi settings.
}
```