6-DOF robot main program

Add custom components

In order to add additional components to project open new Bash terminal in the project directory and run following commands:

cd components
git clone https://github.com/JanG175/6_DOF_robot.git
cd 6_DOF_robot
git submodule init
git submodule update

Configure SDK

It is necessary to change partition table to custom one (partitions.csv) and set flash size to 4 MB. In order to do that go to menuconfig and search for:

• Partition Table settings

• Serial flasher config settings

Linux program

Linux PC works as an inverse kinematic solver. It receives data via UART interface from ESP32 and calculates angles for each servo. Then it sends calculated angles back to ESP32.

In order to get Linux inverse kinematics solver program follow these commands in Bash terminal:

sudo apt update
sudo apt upgrade
sudo apt install putty
sudo apt install xterm
sudo apt remove brltty

cd ~/Desktop
git clone https://github.com/JanG175/inv_kin_solv.git
git checkout linux_pc
mkdir build
cd build
cmake --build .
./inv_kin_solv

To start the program first connect ESP32 UART ports via USB converter (/dev/ttyUSB0)and then connect ESP32 itself via USB (/dev/ttyUSB1) to Linux PC and open Bash terminal and follow these commands:

cd ~/Desktop/inv_kin_solv
bash start_inv_kin.sh

Above commands will open Putty terminal and start inverse kinematics solver. You will be able to steer the robot via ESP console.

Motor homing

In order not to lose motor home position it is necessary to save encoders positions before ending work with robot.

Use:

// save encoders position before power off
for (uint8_t i = 0; i < MOTORS_NUM; i++)
    motor_save_enc_states(i);