DROPBEAR NECK ASSEMBLY

This repository is focused on the development of a robot head and neck assembly, controlled by an ESP32 DevKit V1. The assembly is designed to allow for precise movements in multiple axes, enabling the robot head to simulate human-like motions. The system is controlled via Bluetooth, allowing for wireless operation.

Features

• Six Degrees of Freedom: The robot head and neck assembly can move in six different axes, providing a wide range of motion.
• Bluetooth Control: Movement commands can be sent wirelessly via Bluetooth, enabling remote control of the robot head.
• Precise Movement: Utilizes the FastAccelStepper library for smooth and precise stepper motor control.
• Adjustable Speed and Acceleration: Movement speed and acceleration can be adjusted dynamically through commands.
• Multiple Input Options: Accepts commands via both Bluetooth and USB Serial, providing flexibility in control methods.

Hardware Requirements

• ESP32 DevKit V1
• Six A4988 Stepper Motor Drivers
• Six NEMA 17 Stepper Motors
• Leadscrews and Mechanical Assembly for the Robot Head and Neck
• Power Supply for the Motors and ESP32
• Bluetooth Module (if not integrated into the ESP32 DevKit V1)

Software Requirements

• PlatformIO for ESP32 development
• FastAccelStepper library for stepper motor control

Setup and Configuration

1. Hardware Setup:
   • Connect each stepper motor to an A4988 driver according to the pin map below.

Motor Number	Step Pin	Direction Pin
Motor 1	33	32
Motor 2	18	26
Motor 3	23	14
Motor 4	19	27
Motor 5	22	12
Motor 6	21	13

• Pin 25 is optional for software based enable, however I tie all enable pins to ground to enable permanently.
• Connect the step and direction pins of each A4988 driver to the corresponding pins on the ESP32.
• Ensure the power supply is adequately rated for the stepper motors and the ESP32, 12-24v is safe.
• If you want to modify your maxmimum current for the steppers, please use this guide!

2. Software Setup:

   • Open this folder in VSCode
   • Install PlatformIO and set up a new project for the ESP32 DevKit V1.
   • Add the FastAccelStepper library to the project dependencies.
   • Upload the provided script to the ESP32.

3. Bluetooth Configuration:

   • Pair the ESP32 with your Bluetooth control device.
   • Use the device name "NECK_BT" for connecting.
   • Send commands with the script in the py folder called neck_con.py
   • Import move(x,y) methods into parallel scripts, such as Supervision.
   • Modify the values on line 45 through 53 to reflect your imager resolution.
   • Add your own control schemes from and additional functions to neck_con.py and access them for your application.

Usage

Send movement commands to the ESP32 via Bluetooth or USB Serial in the following format:

• Direct Control: 1:100,2:200,3:-150,... where the number before the colon represents the motor number (1-6) and the number after the colon represents the target position in millimeters.
• Angle and Height Control: X10,Y-5,Z15,H30,S1.5,A2,R10,P-5 where X, Y, and Z are the angles and planes for yaw or radial rotation, lateral, and ventral/dorsal translation respectively, H is the height offset, S is the speed multiplier, A is the acceleration multiplier, R is the roll angle, and P is the pitch angle.
• Default Values: The speed variable (speedVar) is set to 48000 hz, and acceleration value (accVar) is set to 36000. Refer to FastAccelStepper library for more details on where those variables are passed.

Limitations

• Ensure that the mechanical limits of the robot head and neck assembly are not exceeded to avoid damage.
• The speed and acceleration values should be set carefully to prevent excessive wear on the mechanical components.

Future Enhancements

• Implement feedback mechanisms such as encoders or limit switches for more precise control.
• Develop a user-friendly interface for controlling the robot head and neck assembly.
• Integrate sensors for autonomous movement and interaction.

License

This project is open-source and available under the MIT License.

Acknowledgments

• Thanks to the developers of the FastAccelStepper library for providing an efficient way to control stepper motors with the ESP32.
• Gratitude to the ESP32 community for their valuable resources and support.

THANK YOU EVERYONE IN FRACTIONAL ROBOTS!!!