<div class="textcontainer">
<p class="margin"></p>
<h3 id="see-project">See My Final Project</h3>
<p class="margin"></p>
<h4> I made a drawing machine that relies on your computer's arrow keys to draw! Here are final product pictures and videos:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991388381" height="714" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370016" height="415" width="236" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370014" height="415" width="236" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370002" height="415" width="236" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370001" height="415" width="236" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
<h3 id="photos-videos">Here are the photos from the making process</h3>
<h4>
<p class="margin"></p>
So I started with this as my inspiration:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528989984271" height="467" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
It's a core xy machine that can draw on a 3d plane with only two motors needed.
<p class="margin"></p>
Here were the steps I took to make my mvp, which was just building the first prototype, as I already knew how to control a stepper motor from networking week:
<p class="margin"></p>
Screws and couplers for the timing belt:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370077" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
I laser cut a cardboard prototype to house the timing belt:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370078" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
3d Printing stands for the two corners that didn't have stepper motors. The holes here are slightly bigger than the screws so they can turn without friction:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370080" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370086" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
here is the first iteration of the pen holder. With screws holes on the side for tightening the pen into place:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370084" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
Assembling:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370088" height="415" width="236" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370054" height="415" width="236" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370061" height="415" width="236" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
Here is a diagram that explains how the core xy machine integrated the two stepper motors together to create xy movement:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991383470" height="374" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
Wiring both stepper motors on one board:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370045" height="359" width="345" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370041" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370024" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
^^ In that third photo, you can see the two series of three yellow wires. Those are there so the stepper motors can do "microstepping"
and smooth out the pen movement, making it less jerky.
<p class="margin"></p>
Recutting the frame out of wood:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370057" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
Final setup for presentation day!
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991383529" height="714" width="345" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991383540" height="714" width="345" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991383541" height="714" width="345" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370014" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370015" height="560" width="345" frameborder="0" scrolling="no" ></iframe>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991388272" height="714" width="345" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
Drawing made with the machine:
<p class="margin"></p>
<iframe src="https://assets.pinterest.com/ext/embed.html?id=707698528991370001" height="900" width="600" frameborder="0" scrolling="no" ></iframe>
<p class="margin"></p>
<h3 id="code-iterations">Here are the iterations of my code</h3>
<h4>
<p class="margin"></p>
This is the code I used to test my motors:
<p class="margin"></p>
<div class="scrollable-container">
<pre><code class="language-cpp">
void setup() {
Serial.begin(115200); // Start Serial communication
delay(100); // Allow Serial to initialize
//Serial.println("Hello from setup!");
pinMode(10, OUTPUT); // Direction pin for left motor
pinMode(9, OUTPUT); // Step pin for left motor
pinMode(8, OUTPUT); // Direction pin for left motor
pinMode(D7, OUTPUT); // Step pin for left motor
}
void loop() {
// Set direction to LOW (clockwise)
digitalWrite(10, LOW);
digitalWrite(8, LOW);
// Generate step pulses
digitalWrite(9, HIGH);
digitalWrite(D7, HIGH);
delay(10); // Adjust speed by changing delay
digitalWrite(9, LOW);
digitalWrite(D7, LOW);
delay(10);
// Add a delay for Serial output visibility
delay(5);
Serial.println("Stepping...");
}
</code></pre>
</div>
<p class="margin"></p>
This is the code I use to test whether direction pins are working:
<p class="margin"></p>
<div class="scrollable-container">
<pre><code class="language-cpp">
const int DIR_PIN_RIGHT = 8; // Direction pin for the right motor
const int STEP_PIN_RIGHT = D7; // Step pin for the right motor
const int DIR_PIN_LEFT = D10; // Direction pin for the left motor
const int STEP_PIN_LEFT = D9; // Step pin for the left motor
void setup() {
// Set up motor pins as outputs
pinMode(DIR_PIN_RIGHT, OUTPUT);
pinMode(STEP_PIN_RIGHT, OUTPUT);
pinMode(DIR_PIN_LEFT, OUTPUT);
pinMode(STEP_PIN_LEFT, OUTPUT);
Serial.begin(115200);
delay(100);
Serial.println("Testing motor directions...");
}
void loop() {
// Test RIGHT motor with DIR_PIN_HIGH
Serial.println("Right Motor: DIR = HIGH (Counterclockwise)");
digitalWrite(DIR_PIN_RIGHT, HIGH);
runStepper(STEP_PIN_RIGHT);
delay(2000); // Wait 2 seconds
// Test RIGHT motor with DIR_PIN_LOW
Serial.println("Right Motor: DIR = LOW (Clockwise)");
digitalWrite(DIR_PIN_RIGHT, LOW);
runStepper(STEP_PIN_RIGHT);
delay(2000); // Wait 2 seconds
// Test LEFT motor with DIR_PIN_HIGH
Serial.println("Left Motor: DIR = HIGH (Counterclockwise)");
digitalWrite(DIR_PIN_LEFT, HIGH);
runStepper(STEP_PIN_LEFT);
delay(2000); // Wait 2 seconds
// Test LEFT motor with DIR_PIN_LOW
Serial.println("Left Motor: DIR = LOW (Clockwise)");
digitalWrite(DIR_PIN_LEFT, LOW);
runStepper(STEP_PIN_LEFT);
delay(2000); // Wait 2 seconds
}
// Function to run the motor
void runStepper(int stepPin) {
for (int i = 0; i < 200; i++) { // Run 200 steps
digitalWrite(stepPin, HIGH);
delayMicroseconds(1000); // Adjust for speed
digitalWrite(stepPin, LOW);
delayMicroseconds(1000);
}
}
</code></pre>
</div>
<p class="margin"></p>
This is the code that I used to move the pen left and right using buttons on a server:
<p class="margin"></p>
<div class="scrollable-container">
<pre><code class="language-cpp">
#include <WiFi.h>
// WiFi credentials
const char *ssid = "MAKERSPACE";
const char *password = "12345678";
// Server on port 80
WiFiServer server(80);
// Motor control pins
const int DIR_PIN_RIGHT = D4; // Direction pin for the first motor (right)
const int DIR_PIN_LEFT = D6; // Direction pin for the second motor (left)
const int STEP_PIN_RIGHT = D9; // Step pin for the first motor (right)
const int STEP_PIN_LEFT = D7; // Step pin for the second motor (left)
// Function to control motors
void moveMotors(int direction, int durationMs) {
// Set motor direction
digitalWrite(DIR_PIN_RIGHT, direction);
digitalWrite(DIR_PIN_LEFT, direction);
// Run motors for the specified duration
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delay(5); // Adjust speed by changing the delay
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delay(10);
}
// Stop motors after running
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
}
void setup() {
Serial.begin(115200); // Initialize serial communication at 115200 baud rate
// Configure motor control pins as outputs
pinMode(DIR_PIN_RIGHT, OUTPUT);
pinMode(DIR_PIN_LEFT, OUTPUT);
pinMode(STEP_PIN_RIGHT, OUTPUT);
pinMode(STEP_PIN_LEFT, OUTPUT);
// Connect to WiFi
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("\nWiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
}
void loop() {
WiFiClient client = server.available(); // Listen for incoming clients
if (client) { // If you get a client
Serial.println("New Client."); // Print a message to the Serial Monitor
String currentLine = ""; // Store incoming data from the client
while (client.connected()) { // Loop while the client is connected
if (client.available()) { // If there’s bytes to read from the client
char c = client.read(); // Read a byte
Serial.write(c); // Print it out to the Serial Monitor
if (c == '\n') { // If the byte is a newline character
if (currentLine.length() == 0) { // HTTP request ends with a blank line
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println();
// Web interface
client.print("Click <a href=\"/LEFT\">here</a> to move the pen left.<br>");
client.print("Click <a href=\"/RIGHT\">here</a> to move the pen right.<br>");
client.println(); // End of HTTP response
break;
} else {
currentLine = "";
}
} else if (c != '\r') { // Ignore carriage returns
currentLine += c;
}
// Check for commands and run motors
if (currentLine.endsWith("GET /LEFT")) {
Serial.println("Move Left command received");
moveMotors(LOW, 3000); // Motors move clockwise for 3000 ms (3 seconds), causing the pen to go left
}
if (currentLine.endsWith("GET /RIGHT")) {
Serial.println("Move Right command received");
moveMotors(HIGH, 3000); // Motors move counterclockwise for 3000 ms (3 seconds), causing the pen to go right
}
}
}
// Close the connection
client.stop();
Serial.println("Client Disconnected.");
}
}
</code></pre>
</div>
<p class="margin"></p>
this code has buttons for all four directions:
<p class="margin"></p>
<div class="scrollable-container">
<pre><code class="language-cpp">
#include <WiFi.h>
// WiFi credentials
const char *ssid = "MAKERSPACE";
const char *password = "12345678";
// Server on port 80
WiFiServer server(80);
// Motor control pins
const int DIR_PIN_RIGHT = D4; // Direction pin for the first motor (right)
const int DIR_PIN_LEFT = D6; // Direction pin for the second motor (left)
const int STEP_PIN_RIGHT = D9; // Step pin for the first motor (right)
const int STEP_PIN_LEFT = D7; // Step pin for the second motor (left)
// Function to control motors
void moveMotors(int direction, int durationMs) {
// Set motor direction
digitalWrite(DIR_PIN_RIGHT, direction);
digitalWrite(DIR_PIN_LEFT, direction);
// Run motors for the specified duration
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delay(3); // Adjust speed by changing the delay
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delay(10);
}
// Stop motors after running
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
}
// Function to move motors for UP or DOWN movement
void movePen(bool up, int durationMs) {
if (up) {
Serial.println("Moving pen UP...");
digitalWrite(DIR_PIN_RIGHT, LOW); // Right motor clockwise
digitalWrite(DIR_PIN_LEFT, HIGH); // Left motor counterclockwise
} else {
Serial.println("Moving pen DOWN...");
digitalWrite(DIR_PIN_RIGHT, HIGH); // Right motor counterclockwise
digitalWrite(DIR_PIN_LEFT, LOW); // Left motor clockwise
}
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delay(5);
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delay(10);
}
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
}
void setup() {
Serial.begin(115200); // Initialize serial communication at 115200 baud rate
// Configure motor control pins as outputs
pinMode(DIR_PIN_RIGHT, OUTPUT);
pinMode(DIR_PIN_LEFT, OUTPUT);
pinMode(STEP_PIN_RIGHT, OUTPUT);
pinMode(STEP_PIN_LEFT, OUTPUT);
// Connect to WiFi
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("\nWiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
}
void loop() {
WiFiClient client = server.available(); // Listen for incoming clients
if (client) { // If you get a client
Serial.println("New Client."); // Print a message to the Serial Monitor
String currentLine = ""; // Store incoming data from the client
while (client.connected()) { // Loop while the client is connected
if (client.available()) { // If there’s bytes to read from the client
char c = client.read(); // Read a byte
Serial.write(c); // Print it out to the Serial Monitor
if (c == '\n') { // If the byte is a newline character
if (currentLine.length() == 0) { // HTTP request ends with a blank line
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println();
// Web interface with four buttons
client.print("Click <a href=\"/LEFT\">here</a> to move the pen left.<br>");
client.print("Click <a href=\"/RIGHT\">here</a> to move the pen right.<br>");
client.print("Click <a href=\"/UP\">here</a> to move the pen up.<br>");
client.print("Click <a href=\"/DOWN\">here</a> to move the pen down.<br>");
client.println(); // End of HTTP response
break;
} else {
currentLine = "";
}
} else if (c != '\r') { // Ignore carriage returns
currentLine += c;
}
// Handle commands for each button
if (currentLine.endsWith("GET /LEFT")) {
Serial.println("Move Left command received");
moveMotors(LOW, 3000);
}
if (currentLine.endsWith("GET /RIGHT")) {
Serial.println("Move Right command received");
moveMotors(HIGH, 3000);
}
if (currentLine.endsWith("GET /UP")) {
Serial.println("Move Up command received");
movePen(true, 3000);
}
if (currentLine.endsWith("GET /DOWN")) {
Serial.println("Move Down command received");
movePen(false, 3000);
}
}
}
// Close the connection
client.stop();
Serial.println("Client Disconnected.");
}
}
</code></pre>
</div>
<p class="margin"></p>
This is the code that allows me to use the arrows of my keyboard to control my pen holder:
<p class="margin"></p>
<div class="scrollable-container">
<pre><code class="language-cpp">
#include <WiFi.h>
// WiFi credentials
const char *ssid = "MAKERSPACE";
const char *password = "12345678";
// Server on port 80
WiFiServer server(80);
// Motor control pins
const int DIR_PIN_RIGHT = D4; // Direction pin for the first motor (right)
const int DIR_PIN_LEFT = D6; // Direction pin for the second motor (left)
const int STEP_PIN_RIGHT = D9; // Step pin for the first motor (right)
const int STEP_PIN_LEFT = D7; // Step pin for the second motor (left)
// Function to move motors in the same direction
void moveMotors(int direction, int durationMs) {
digitalWrite(DIR_PIN_RIGHT, direction);
digitalWrite(DIR_PIN_LEFT, direction);
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delay(5);
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delay(10);
}
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
}
// Function to move motors for UP or DOWN movement
void movePen(bool up, int durationMs) {
if (up) {
digitalWrite(DIR_PIN_RIGHT, LOW); // Right motor clockwise
digitalWrite(DIR_PIN_LEFT, HIGH); // Left motor counterclockwise
} else {
digitalWrite(DIR_PIN_RIGHT, HIGH); // Right motor counterclockwise
digitalWrite(DIR_PIN_LEFT, LOW); // Left motor clockwise
}
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delay(2);
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delay(10);
}
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
}
void setup() {
Serial.begin(115200);
pinMode(DIR_PIN_RIGHT, OUTPUT);
pinMode(STEP_PIN_RIGHT, OUTPUT);
pinMode(DIR_PIN_LEFT, OUTPUT);
pinMode(STEP_PIN_LEFT, OUTPUT);
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("\nWiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
}
unsigned long lastCommandTime = 0;
const int cooldown = 300; // Cooldown in milliseconds
void loop() {
WiFiClient client = server.available();
if (client) {
Serial.println("New Client.");
String currentLine = "";
while (client.connected()) {
if (client.available()) {
char c = client.read();
Serial.write(c);
if (c == '\n') {
if (currentLine.length() == 0) {
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println();
// Web interface with JavaScript for arrow key controls
client.println("<html><body>");
client.println("<h1>Pen Control</h1>");
client.println("<p>Use arrow keys to control the pen:</p>");
// Add JavaScript block
client.println("<script>");
client.println("let lastKey = null;");
client.println("let debounceTime = 300;"); // Adjust debounce time (milliseconds)
client.println("let lastKeyTime = 0;");
client.println("document.addEventListener('keydown', function(event) {");
client.println(" let now = Date.now();");
client.println(" if (lastKey !== event.key || now - lastKeyTime > debounceTime) {");
client.println(" lastKey = event.key;");
client.println(" lastKeyTime = now;");
client.println(" if (event.key === 'ArrowLeft') { fetch('/LEFT'); }");
client.println(" if (event.key === 'ArrowRight') { fetch('/RIGHT'); }");
client.println(" if (event.key === 'ArrowUp') { fetch('/UP'); }");
client.println(" if (event.key === 'ArrowDown') { fetch('/DOWN'); }");
client.println(" }");
client.println("});");
client.println("document.addEventListener('keyup', function(event) {");
client.println(" lastKey = null;"); // Reset on key release
client.println("});");
client.println("</script>");
client.println("</body></html>");
client.println(); // End of HTTP response
break;
} else {
currentLine = "";
}
} else if (c != '\r') {
currentLine += c;
}
// Handle commands for each key
if (currentLine.endsWith("GET /LEFT")) {
Serial.println("Move Left command received");
moveMotors(LOW, 200);
}
if (currentLine.endsWith("GET /RIGHT")) {
Serial.println("Move Right command received");
moveMotors(HIGH, 200);
}
if (currentLine.endsWith("GET /UP")) {
Serial.println("Move Up command received");
movePen(true, 200);
}
if (currentLine.endsWith("GET /DOWN")) {
Serial.println("Move Down command received");
movePen(false, 200);
}
}
}
client.stop();
Serial.println("Client Disconnected.");
}
}
</code></pre>
</div>
<h4>
<p class="margin"></p>
<h4> This code is similar to the last one but is specialized for microstepping and faster reaction time from each button press:
<p class="margin"></p>
<div class="scrollable-container">
<pre><code class="language-cpp">
#include <WiFi.h>
#include <ESP32Servo.h> // Include the Servo library
// WiFi credentials
const char *ssid = "MAKERSPACE";
const char *password = "12345678";
// Server on port 80
WiFiServer server(80);
// Motor control pins
const int DIR_PIN_RIGHT = D4; // Direction pin for the first motor (right)
const int DIR_PIN_LEFT = D6; // Direction pin for the second motor (left)
const int STEP_PIN_RIGHT = D9; // Step pin for the first motor (right)
const int STEP_PIN_LEFT = D7; // Step pin for the second motor (left)
const int movementDurationMs = 100; // Duration in milliseconds
// Servo control
const int SERVO_PIN = D2; // GPIO connected to the servo signal pin
Servo myServo; // Create a Servo object
// Function to move motors in the same direction
void moveMotors(int direction, int durationMs) {
digitalWrite(DIR_PIN_RIGHT, direction);
digitalWrite(DIR_PIN_LEFT, direction);
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delayMicroseconds(50); // Shorter delay for higher speed
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delayMicroseconds(50); // Adjust as needed
}
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
}
// Function to move motors for UP or DOWN movement
void movePen(bool up, int durationMs) {
if (up) {
digitalWrite(DIR_PIN_RIGHT, LOW); // Right motor clockwise
digitalWrite(DIR_PIN_LEFT, HIGH); // Left motor counterclockwise
} else {
digitalWrite(DIR_PIN_RIGHT, HIGH); // Right motor counterclockwise
digitalWrite(DIR_PIN_LEFT, LOW); // Left motor clockwise
}
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delayMicroseconds(50); // Shorter delay for higher speed
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delayMicroseconds(50); // Adjust as needed
}
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
}
void setup() {
Serial.begin(115200);
pinMode(DIR_PIN_RIGHT, OUTPUT);
pinMode(STEP_PIN_RIGHT, OUTPUT);
pinMode(DIR_PIN_LEFT, OUTPUT);
pinMode(STEP_PIN_LEFT, OUTPUT);
// Attach the servo to the specified pin
myServo.attach(SERVO_PIN);
myServo.write(90); // Initialize servo to the neutral position (90 degrees)
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("\nWiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
}
unsigned long lastCommandTime = 0;
const int cooldown = 300; // Cooldown in milliseconds
void loop() {
WiFiClient client = server.available();
if (client) {
Serial.println("New Client.");
String currentLine = "";
while (client.connected()) {
if (client.available()) {
char c = client.read();
Serial.write(c);
if (c == '\n') {
if (currentLine.length() == 0) {
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println();
// Web interface with JavaScript for arrow key controls and servo button
client.println("<html><body>");
client.println("<h1>Pen and Servo Control</h1>");
client.println("<p>Use arrow keys to control the pen:</p>");
client.println("<p><button onclick=\"fetch('/SERVO')\">Servo</button></p>");
// Add JavaScript block
client.println("<script>");
client.println("let lastKey = null;");
client.println("let debounceTime = 25;"); // Adjust debounce time (milliseconds)
client.println("let lastKeyTime = 0;");
client.println("document.addEventListener('keydown', function(event) {");
client.println(" let now = Date.now();");
client.println(" if (lastKey !== event.key || now - lastKeyTime > debounceTime) {");
client.println(" lastKey = event.key;");
client.println(" lastKeyTime = now;");
client.println(" if (event.key === 'ArrowLeft') { fetch('/LEFT'); }");
client.println(" if (event.key === 'ArrowRight') { fetch('/RIGHT'); }");
client.println(" if (event.key === 'ArrowUp') { fetch('/UP'); }");
client.println(" if (event.key === 'ArrowDown') { fetch('/DOWN'); }");
client.println(" }");
client.println("});");
client.println("document.addEventListener('keyup', function(event) {");
client.println(" lastKey = null;"); // Reset on key release
client.println("});");
client.println("</script>");
client.println("</body></html>");
client.println(); // End of HTTP response
break;
} else {
currentLine = "";
}
} else if (c != '\r') {
currentLine += c;
}
// Handle commands for each key
// Handle commands for each key
if (currentLine.endsWith("GET /LEFT")) {
Serial.println("Move Left command received");
moveMotors(LOW, movementDurationMs);
}
if (currentLine.endsWith("GET /RIGHT")) {
Serial.println("Move Right command received");
moveMotors(HIGH, movementDurationMs);
}
if (currentLine.endsWith("GET /UP")) {
Serial.println("Move Up command received");
movePen(true, movementDurationMs);
}
if (currentLine.endsWith("GET /DOWN")) {
Serial.println("Move Down command received");
movePen(false, movementDurationMs);
}
}
}
client.stop();
Serial.println("Client Disconnected.");
}
}
</code></pre>
</div>
<p class="margin"></p>
This is my code updated to keep track of x and y positions as well as being able to store page width and height information:
<p class="margin"></p>
<div class="scrollable-container">
<pre><code class="language-cpp">
#include <WiFi.h>
#include <ESP32Servo.h> // Include the Servo library
// WiFi credentials
const char *ssid = "MAKERSPACE";
const char *password = "12345678";
// Server on port 80
WiFiServer server(80);
// Motor control pins
const int DIR_PIN_RIGHT = D4; // Direction pin for the first motor (right)
const int DIR_PIN_LEFT = D6; // Direction pin for the second motor (left)
const int STEP_PIN_RIGHT = D9; // Step pin for the first motor (right)
const int STEP_PIN_LEFT = D7; // Step pin for the second motor (left)
const int movementDurationMs = 80; // Duration in milliseconds
bool clientConnected = false;
long widthSteps = 0;
long heightSteps = 0;
long stepCounter = 0;
bool calibratingWidth = false;
bool calibratingHeight = false;
long currentX = 0;
long currentY = 0;
long widthCoordinate = 0;
long heightCoordinate = 0;
// Servo control
const int SERVO_PIN = D2; // GPIO connected to the servo signal pin
Servo myServo; // Create a Servo object
int calculateSteps(int durationMs) {
int stepsPerMs = 1000 / 150;
return durationMs * stepsPerMs;
}
void moveMotors(int direction, int durationMs) {
digitalWrite(DIR_PIN_RIGHT, direction);
digitalWrite(DIR_PIN_LEFT, direction);
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delayMicroseconds(100);
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delayMicroseconds(50);
}
// Update step counter during calibration
if (calibratingWidth) {
stepCounter += (direction == HIGH) ? 1 : -1;
}
// Calculate steps moved and update currentX
int stepsMoved = calculateSteps(durationMs);
if (direction == HIGH) {
currentX += stepsMoved;
} else {
currentX -= stepsMoved;
}
// Print current X coordinate
Serial.print("Current X: ");
Serial.println(currentX);
}
void movePen(bool up, int durationMs) {
if (up) {
digitalWrite(DIR_PIN_RIGHT, LOW);
digitalWrite(DIR_PIN_LEFT, HIGH);
} else {
digitalWrite(DIR_PIN_RIGHT, HIGH);
digitalWrite(DIR_PIN_LEFT, LOW);
}
unsigned long startTime = millis();
while (millis() - startTime < durationMs) {
digitalWrite(STEP_PIN_RIGHT, HIGH);
digitalWrite(STEP_PIN_LEFT, HIGH);
delayMicroseconds(100);
digitalWrite(STEP_PIN_RIGHT, LOW);
digitalWrite(STEP_PIN_LEFT, LOW);
delayMicroseconds(50);
}
// Update step counter during calibration
if (calibratingHeight) {
stepCounter += (up) ? 1 : -1;
}
// Calculate steps moved and update currentY
int stepsMoved = calculateSteps(durationMs);
if (up) {
currentY += stepsMoved;
} else {
currentY -= stepsMoved;
}
Serial.print("Current Y: ");
Serial.println(currentY);
}
void zeroMachine() {
// Move to the bottom-left corner manually
// Reset step counters
stepCounter = 0;
calibratingWidth = true;
calibratingHeight = false;
Serial.println("Machine zeroed. Use RIGHT arrow to set width.");
// Reset coordinates
currentX = 0;
currentY = 0;
widthCoordinate = 0;
heightCoordinate = 0;
// Print current coordinates
Serial.print("Current X: ");
Serial.println(currentX);
Serial.print("Current Y: ");
Serial.println(currentY);
}
void setup() {
Serial.begin(115200);
pinMode(DIR_PIN_RIGHT, OUTPUT);
pinMode(STEP_PIN_RIGHT, OUTPUT);
pinMode(DIR_PIN_LEFT, OUTPUT);
pinMode(STEP_PIN_LEFT, OUTPUT);
// Attach the servo to the specified pin
myServo.attach(SERVO_PIN);
myServo.write(90); // Initialize servo to the neutral position (90 degrees)
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("\nWiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
server.begin();
}
unsigned long lastCommandTime = 0;
const int cooldown = 300; // Cooldown in milliseconds
void loop() {
WiFiClient client = server.available();
if (client) {
if (!clientConnected) {
//Serial.println("New Client.");
clientConnected = true;
}
String currentLine = "";
while (client.connected()) {
if (client.available()) {
char c = client.read();
if (c == '\n') {
if (currentLine.length() == 0) {
client.println("HTTP/1.1 200 OK");
client.println("Content-type:text/html");
client.println();
// Web interface with JavaScript for arrow key controls, servo, and zero buttons
client.println("<html><body>");
client.println("<h1>Pen and Servo Control</h1>");
client.println("<p>Use arrow keys to control the pen:</p>");
client.println("<p><button onclick=\"fetch('/SERVO')\">Servo</button></p>");
client.println("<p><button onclick=\"fetch('/ZERO')\">Zero</button></p>");
client.println("<p><button onclick=\"fetch('/SET_WIDTH')\">Set Width</button></p>");
client.println("<p><button onclick=\"fetch('/SET_HEIGHT')\">Set Height</button></p>");
client.println("<h2>Current Coordinates</h2>");
client.println("<p>X: <span id=\"xCoord\">0</span></p>");
client.println("<p>Y: <span id=\"yCoord\">0</span></p>");
client.println("<script>");
client.println("function fetchCoordinates() {");
client.println(" fetch('/COORDS').then(response => response.json()).then(data => {");
client.println(" document.getElementById('xCoord').innerText = data.x;");
client.println(" document.getElementById('yCoord').innerText = data.y;");
client.println(" });");
client.println("}");
client.println("setInterval(fetchCoordinates, 1000);"); // Fetch coordinates every second
client.println("let lastKey = null;");
client.println("let debounceTime = 25;");
client.println("let lastKeyTime = 0;");
client.println("document.addEventListener('keydown', function(event) {");
client.println(" let now = Date.now();");
client.println(" if (lastKey !== event.key || now - lastKeyTime > debounceTime) {");
client.println(" lastKey = event.key;");
client.println(" lastKeyTime = now;");
client.println(" if (event.key === 'ArrowLeft') { fetch('/LEFT'); }");
client.println(" if (event.key === 'ArrowRight') { fetch('/RIGHT'); }");
client.println(" if (event.key === 'ArrowUp') { fetch('/UP'); }");
client.println(" if (event.key === 'ArrowDown') { fetch('/DOWN'); }");
client.println(" }");
client.println("});");
client.println("document.addEventListener('keyup', function(event) {");
client.println(" lastKey = null;");
client.println("});");
client.println("</script>");
client.println("</body></html>");
client.println(); // End of HTTP response
break;
} else {
currentLine = "";
}
} else if (c != '\r') {
currentLine += c;
}
if (currentLine.endsWith("GET /LEFT")) {
Serial.println("Move Left command received");
moveMotors(LOW, movementDurationMs);
if (calibratingWidth) stepCounter--;
}
if (currentLine.endsWith("GET /RIGHT")) {
Serial.println("Move Right command received");
moveMotors(HIGH, movementDurationMs);
if (calibratingWidth) stepCounter++;
}
if (currentLine.endsWith("GET /UP")) {
Serial.println("Move Up command received");
movePen(true, movementDurationMs);
if (calibratingHeight) stepCounter++;
}
if (currentLine.endsWith("GET /DOWN")) {
Serial.println("Move Down command received");
movePen(false, movementDurationMs);
if (calibratingHeight) stepCounter--;
}
if (currentLine.endsWith("GET /ZERO")) {
Serial.println("Zero command received");
zeroMachine();
}
if (currentLine.endsWith("GET /SET_WIDTH")) {
Serial.println("Set Width command received");
widthCoordinate = currentX;
calibratingWidth = false;
Serial.print("Width set to X coordinate: ");
Serial.println(widthCoordinate);
}
if (currentLine.endsWith("GET /SET_HEIGHT")) {
Serial.println("Set Height command received");
heightCoordinate = currentY;
calibratingHeight = false;
Serial.print("Height set to Y coordinate: ");
Serial.println(heightCoordinate);
}
if (currentLine.endsWith("GET /COORDS")) {
String jsonResponse = "{\"x\":" + String(currentX) + ",\"y\":" + String(currentY) + "}";
client.println("HTTP/1.1 200 OK");
client.println("Content-Type: application/json");
client.println("Connection: close");
client.println();
client.println(jsonResponse);
continue;
}
}
}
client.stop();
//Serial.println("Client Disconnected.");
clientConnected = false;
}
}
</code></pre>
</div>
</div>