https://github.com/steven-tbd/esp32-stepper-kinetic-control
A prototype for a kinetic hanging sculpture using an ESP32, stepper motors, and C++ to create dynamic, wave-like movements.
https://github.com/steven-tbd/esp32-stepper-kinetic-control
arduino esp32 kinetic-art kinetic-sculpture physical-computing prototype stepper-motor
Last synced: 24 days ago
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A prototype for a kinetic hanging sculpture using an ESP32, stepper motors, and C++ to create dynamic, wave-like movements.
- Host: GitHub
- URL: https://github.com/steven-tbd/esp32-stepper-kinetic-control
- Owner: steven-tbd
- Created: 2025-07-23T06:49:07.000Z (11 months ago)
- Default Branch: main
- Last Pushed: 2026-05-20T00:16:16.000Z (about 1 month ago)
- Last Synced: 2026-05-20T03:16:19.032Z (about 1 month ago)
- Topics: arduino, esp32, kinetic-art, kinetic-sculpture, physical-computing, prototype, stepper-motor
- Language: C++
- Homepage: https://stevenmbenton.com/kinetic-hanging-sculpture/
- Size: 12.6 MB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# ESP32 Stepper Motor Control
A 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.
## Overview
The 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.
The winch mechanism uses off-the-shelf plastic thread spools attached to NEMA 17 motor shafts via flange couplings. No custom 3D printing required.
[YouTube Demo](https://youtu.be/g7hZ9SLusAE)
## Signal Flow
```
[ESP32] ---> (STEP/DIR) ---> [5x TMC2209] ---> (Phase Current) ---> [5x NEMA 17] ---> (Braided Line) ---> [5x Suspended Wooden Balls]
```
**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.
**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.
## Hardware
**ESP32-DevKitC-32E** microcontroller
**NEMA 17** stepper motors (one per winch)
**TMC2209** stepper drivers (one per motor)
**12 V power supply** (Mean Well LRS-100-12 recommended)
**Custom winch mechanisms** (see Winch Mechanism section below)
## Software
- **Arduino IDE** with the ESP32 board manager installed
- **Arduino library:** `AccelStepper` by Mike McCauley
## Setup
1. 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.
2. Open the `.ino` file in the Arduino IDE and upload it to the ESP32.
3. After a 10-second startup delay, the motors run a brief settling movement, then begin the continuous sine wave sequence.
## Winch Mechanism
Each 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.
The goal was a mechanism that could be built and replicated without custom fabrication. These parts are all available off the shelf.
### Bill of Materials (per winch)
| Part | Product Link | Notes |
| --- | --- | --- |
| **Stepper Motor** | NEMA 17 | Standard 5mm D-shaft |
| **Motor Shaft Coupler** | [5mm Flange Coupling](https://www.amazon.com/dp/B092Z7Q3X9) | Connects motor to spool |
| **Spool** | [2.64" Plastic Wire Spools](https://www.amazon.com/dp/B07X3Y2Z8J) | Winch drum |
| **Suspended Object** | [2-inch (50mm) Wooden Ball](https://www.amazon.com/dp/B089Q7XJ6Y) | Kinetic element |
| **Line** | [15lb Braided Fishing Line](https://www.amazon.com/dp/B07D37T6Y8) | Low stretch, high strength |
| **Fasteners** | M3 Screws & Nuts (included with coupler), [Small Eye Hooks](https://www.amazon.com/dp/B09C1Y2Z7X) | Assembly and line attachment |