herculitoControl

Arduino ESP32 program which drives a herculito robot arm

The GCode syntax that herculitoControl understands is documented in herculitoControl GCode V1.0.pdf.

The remote control usage is described in Sony Dualshock controller help.

An easy way to drive the herculito robot arm is to connect the USB port via USB serial to a computer running the Windows operating system and to install YAT. YAT provides a command line to allows you to send text to a serial port. You can also send a complete text file in one step to the serial link. This is the way how I created the example movie.

herculitoContrl uses these external libraries:

• ESP32Servo
• PNGdec
• PS4-esp32
• TFT_eSPI - Please review the example User_Setup.h file

Code from these libraries is embedded in the herculitoControl source

• RingBufCPP
• GCodeParser
• SpeedyStepper

References

• Intersection of two circles
• Intersection of a Line and a Sphere (or circle)
• G-code - RepRap
• Generate stepper-motor speed profiles in real time
• Stan-Reifel Stepper motor control library
• AVR446: Linear speed control of stepper motor