https://github.com/jacktoaster/dragonfly-robot

robotic dragonfly ornithopter hardware/firmware
https://github.com/jacktoaster/dragonfly-robot

Last synced: 8 months ago
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robotic dragonfly ornithopter hardware/firmware

• Host: GitHub
• URL: https://github.com/jacktoaster/dragonfly-robot
• Owner: JackToaster
• Created: 2025-08-21T16:14:02.000Z (10 months ago)
• Default Branch: main
• Last Pushed: 2025-09-03T21:25:22.000Z (9 months ago)
• Last Synced: 2025-09-03T23:22:05.892Z (9 months ago)
• Language: C
• Size: 3.76 MB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Dragonfly Robot

This repository contains hardware and firmware files for a flight controller & 4-channel servo driver, intended for my dragonfly ornithopter robot.

## Robot hardware

The robot is built from components 3d printed out of lightweight PLA and pulltruded carbon fiber rods, with two standard 3.7g RC servos actuating each wing.

![Dragonfly robot](images/robot.jpg)

## PCB

The flight controlelr hardware is based on the WCH CH32V203, a low-cost RISC-V microcontroller.

Motor drives use the TI DRV8212 full-bridge driver and INA199 current sense amplifier for current feedback.

Each controller drives one pair of wings (four actuators). The controllers for each wing pair communicate with each other via I2C. An I2C IMU (MPU6050/MPU9250) is used for attitude control, and an RC receiver is connected over a serial link via the CRSF protocol.

![Dragonfly robot controller PCB](images/controller-board.jpeg)

## Firmware

The firmware in this repository utilizes CNLohr's [CH32Fun](https://github.com/cnlohr/ch32fun) framework for register mapping and hardware initialization functionality.