TranquilFirmware

Firmware for the ESP32-based Tranquil kinetic sand drawing robots.

Requirements

This is not a drop-in replacement for Rob Dobson's original RBotFirmware! Many things have been changed/moved around.

Hardware:

• Stepper drivers (preferably TMC2208/2209, generics can be used)
• Endstops
• ESP32, must have at least 4MB flash for proper OTA operation
• SD Card - can either use MMC mode or SPI mode, SPI mode can use any pins, albeit is much slower.

This project requires an operational TranquilAPI server! Run your own on CloudFlare Workers!

Notes

The firmware is setup to automatically check for updates from a central server. The firmware binaries are built upon commit to this repository and are automatically uploaded to the OTA server.

See cloudflare-ota-server for more information.

Robot Configuration Reference

Robot configuration is stored in NVRAM and can be viewed by sending GET request to /settings/robot and can be changed by POSTing JSON to /settings/robot

Similarly, wifi/ntp/scheduler/light settings can be changed at

• /settings/wifi < Network settings (supports WPA2-Enterprise)
• /settings/ntp < time zone and ntp server
• /settings/scheduler < stores scheduled commands
• /settings/lights < LED lights
• /settings/security < used to store PIN code
• /settings/tranquil < only used for storing TranquilAPI encrypted JWT

LED strip must be attached to GPIO5

//See RobotConfig.example.json for an uncommented version.
{
  "robotConfig": {
    "robotType": "TranquilSmall", //custom robot config name, please change if building your own and submitting PR.
    "cmdsAtStart": "", //commands to run on startup, seperated by ';' ex. "G28" to home.
    "evaluators": {
      "thrContinue": 0, //must be 0
      "thrThetaMirrored": 1, //to mirror theta axis or not (flip drawings)
      "thrThetaOffsetAngle": 0.5 //rotate drawings around the bed (DEGREES)
    },
    "robotGeom": {
      "model": "SandBotRotary", //keep SandBotRotary
      "motionController": {
        "chip": "TMC2209", //tmc2208 or tmc2209, omit whole object if not using Trinamics, if you are, rest of params are required.
        "TX1": 32, //UART for drv1
        "TX2": 33, //UART for drv2, rest of params are self explanatory.
        "driver_TOFF": 4, //hysterisis TOFF time
        "run_current": 600, //motor run current (mA)
        "microsteps": 16, //motor microsteps
        "stealthChop": 1 //stealthchop, sets stealthchop2 for 2209, stealthchop1 for 2208,2130
      },
      "homing": {
        //homing string, axis A is rotary, B linear.
        "homingSeq": "FR3;A+38400n;B+3200;#;A+38400N;B+3200;#;A+200;#B+400;#;B+30000n;#;B-30000N;#;B-340;#;A=h;B=h;$",
        "maxHomingSecs": 120
      },
      "blockDistanceMM": 1, //movement resolution in mm (keep at 1, lower stalls bot)
      "allowOutOfBounds": 0, //keep 0
      "stepEnablePin": "25", //motor enable GPIO pin
      "stepEnLev": 0, //motor active logic level
      "stepDisableSecs": 30, //seconds after last move to turn motors off
      "axis0": {
        "maxSpeed": 15, //no idea
        "maxAcc": 25, //no idea
        "maxRPM": 4, //max RPM for rotary axis
        "stepsPerRot": 38400, //steps (including microsteps) for one full rotation of the primary rotary axis
        "stepPin": "19", //step pin for this axis
        "dirnPin": "21", //dir pin for this axis
        "dirnRev": "1", //is direction reversed?
        "endStop0": {
            "sensePin": "22", //endstop GPIO pin
            "actLvl": 0, //triggered at what level?
            "inputType": "INPUT"
        }
      },
      "axis1": { //same as above, changes highlighted
        "maxSpeed": 15,
        "maxAcc": 25,
        "maxRPM": 30,
        "stepsPerRot": 3200,
        "unitsPerRot": 40.5, //for each rotation of the upper central gear, how much does the linear arm move in MM
        "maxVal": 145, //maximum MM the linear arm can go out from center
        "stepPin": "27",
        "dirnRev": "1",
        "dirnPin": "3",
        "endStop0": { "sensePin": "23", "actLvl": 0, "inputType": "INPUT" }
      }
    },
    "fileManager": {
      "spiffsEnabled": 1, //must be 1
      "spiffsFormatIfCorrupt": 1, //self explanatory, i advise against it.
      "sdEnabled": 1, //must be 1
      "sdSPI": 0, //OPTIONAL, set to 1 for sdspi, if omitted, SDMMC is used.
      "sdMISO": 0, //REQUIRED FOR SDSPI, omit for SDMMC, miso pin
      "sdMOSI": 0, //REQUIRED FOR SDSPI, omit for SDMMC, mosi pin
      "sdCLK": 0, //REQUIRED FOR SDSPI, omit for SDMMC, clock pin
      "sdCS": 0, //REQUIRED FOR SDSPI, omit for SDMMC, CS pin
      "sdLanes": 1 //1 or 4, sets bus width for SDMMC, not used for SDSPI
    },
    "ledStrip": {
      "ledRGBW": 1, //1 for SK6812, 0 for ws2812
      "ledCount": "143", //led count
      "tslEnabled": "1", //does robot have TSL2561
      "tslSDA": "16", //if so, i2c pins.
      "tslSCL": "17" // ^^^
    }
  },
  "cmdSched": { "jobs": [] }, //don't edit, doesn't do anything but fw still relies on it being here
  "name": "Tranquil" //robot name, not hostname, that is set in wifi settings.
}