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getting_started.md

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Setup + Interacting

This section explains how to get koebi up and running with the default firmware and tablet GUI. This combination allows to control the speed and position of the six stepper motors independently or pairwise coordinated moves.

Firmware

Use the esptool to flash this Micropython build on the ESP32. It is easily installed using pip:

$ pip install esptool

If you put Micropython on your board for the first time, it should be erased first:

$ esptool.py --chip esp32 --port /dev/ttyUSB0 erase_flash

After this, the custom firmware can be flashed:

$ cd (...)/koebi/firmware
$ esptool.py --chip esp32 --port /dev/ttyUSB0 --baud 406800 write_flash -z --flash_mode dio --flash_freq 40m 0x1000 firmware.bin

For more information, see the official Micropython docs.

Setup the TouchOSC GUI

  • Install the TouchOSC app on a tablet.
    It's a paid app (5.-, sorry about that)

  • Install the application to edit layouts, TouchOSC Editor, on a computer (free)

  • Transfer the koebi.touchosc (found in /gui) to the tablet. The official documentation walks you through this for iOS and Android

To complete the setup, you need to specify a few options on the tablet. Access these by tapping the dot at the top right corner in the TouchOSC app.

Set the following Host:

  • Host: 192.168.4.1 (which is the ESP32's IP Address)
  • Port (outgoing): 8000
  • Port (incoming): 9000

And under Options:

  • Send Ping (/ping): On
  • Delay: 5s

Finally, make sure to connect with the systems WiFi:

  • Network name (SSID): koebi
  • No password / encryption

When opening TouchOSC, you should now be able to power up the motors and control them.

Open Sound Control (OSC) API

The tablet uses the following API to communicate with the ESP32. It is implemented in main.py and can be used by any other client within koebis's network to control it.

Feedback Behaviour:

Need more? Read the hacking guide.

Globals

/fan

Enable or disable the fan cooling the stepper drivers (0/1)

/power

Enable or disable the stepper drivers output. Starts the fan upon enabling, and stops it upon disabling (0/1).
Heads up: Always disable the stepper outputs before pulling koebi's cord. Otherwise, the Trinamic stepper drivers may be permanently damaged due to overvoltage spikes!

/reset

Trigger a software reset of the ESP32 board (0/1)

Stepper Motor Globals

/all/curr

Set all steppers' run current, specified in milliamperes (100..1200). High values (>800) may lead to thermal shutdown in a heavy-use scenario.

/all/acc

Set all steppers' acceleration, in cm/s2 (0.1…200)

/all/vel_limit

Set all stepper's max velocity, in cm/s (0…200)

Individual Stepper Motor Commands

For each of the following endpoints, [motor] may be a, b, c, d, e or f.

/[motor]/vel

Set a steppers velocity as a factor of the velocity limit (0 … 1).

/[motor]/zero

Define a steppers current position as the new 0.0, ie. home position (0/1)

/[motor]/end

Define a steppers current position as the new 1.0, ie. end position (0/1)

/[motor]/target

Set a steppers target position as a factor of the motor's axis length (0…1)

/[motor]/pos

Get a steppers current position as a factor of the motor's axis length (0…1)