add more boards. Closes #8
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PROFERIS - Mi³osz Stocki
@@ -22,7 +22,7 @@ only BLE between the ESP32 firmware and a local web SPA.
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| Component | Detail |
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|---|---|
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| **MCU** | Tenstar Robot ESP32-C3 Super Mini |
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| **MCU** | Tenstar Robot ESP32-C3 Super Mini (also supports ESP32-S3 and ESP32-WROOM) |
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| **Framework** | PlatformIO + Arduino core |
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| **Motors** | 2× 28BYJ-48 (unipolar stepper via ULN2003 driver) |
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| **Motor mode** | `AccelStepper::HALF4WIRE` — 4096 steps/rev |
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+28
-14
@@ -1,28 +1,42 @@
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; PlatformIO Project Configuration
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; Board: Tenstar Robot ESP32-C3 Super Mini (or compatible ESP32-C3)
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; Project: WijiBoard – BLE SCARA Stepper Controller
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[env:esp32-c3-devkitm-1]
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[env]
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platform = espressif32
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board = esp32-c3-devkitm-1
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framework = arduino
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monitor_speed = 115200
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upload_protocol = esptool
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lib_deps =
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; AccelStepper for smooth, non-blocking stepper control
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waspinator/AccelStepper @ ^1.64
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; USB CDC on boot – Serial Monitor works over native USB
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; ---------------------------------------------------------
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; Board 1: ESP32-C3 Super Mini (Original)
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; ---------------------------------------------------------
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[env:esp32-c3-devkitm-1]
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board = esp32-c3-devkitm-1
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build_flags =
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-D BOARD_ESP32_C3
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-D ARDUINO_USB_MODE=1
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-D ARDUINO_USB_CDC_ON_BOOT=1
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-D STATUS_LED_PIN=8
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-D STATUS_LED_ON=LOW
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-D STATUS_LED_OFF=HIGH
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board_upload.flash_size = 4MB
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board_build.flash_mode = dio
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board_build.partitions = default.csv
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; Adjust to your COM port
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monitor_speed = 115200
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upload_protocol = esptool
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; ---------------------------------------------------------
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; Board 2: ESP32-S3 (e.g. DevKitC)
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; ---------------------------------------------------------
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[env:esp32s3]
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board = esp32-s3-devkitc-1
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build_flags =
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-D BOARD_ESP32_S3
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-D ARDUINO_USB_MODE=1
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-D ARDUINO_USB_CDC_ON_BOOT=1
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lib_deps =
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; AccelStepper for smooth, non-blocking stepper control
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waspinator/AccelStepper @ ^1.64
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; ---------------------------------------------------------
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; Board 3: ESP32 WROOM (e.g. NodeMCU / DevKit V1)
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; ---------------------------------------------------------
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[env:esp32dev]
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board = esp32dev
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build_flags =
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-D BOARD_ESP32_WROOM
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+59
-10
@@ -2,17 +2,66 @@
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#include <Arduino.h>
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// ─── Motor pin mapping (28BYJ-48 / ULN2003) ──────────────────────
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// Motor 1 – Shoulder
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#define M1_IN1 0
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#define M1_IN2 1
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#define M1_IN3 3
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#define M1_IN4 4
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#if defined(BOARD_ESP32_C3)
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// ESP32-C3 Super Mini
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// Motor 1 – Shoulder
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#define M1_IN1 0
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#define M1_IN2 1
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#define M1_IN3 3
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#define M1_IN4 4
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// Motor 2 – Elbow
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#define M2_IN1 5
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#define M2_IN2 6
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#define M2_IN3 7
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#define M2_IN4 10
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// Motor 2 – Elbow
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#define M2_IN1 5
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#define M2_IN2 6
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#define M2_IN3 7
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#define M2_IN4 10
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// LED
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#define STATUS_LED_PIN 8
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#define STATUS_LED_ON LOW
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#define STATUS_LED_OFF HIGH
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#elif defined(BOARD_ESP32_S3)
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// ESP32-S3
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// Motor 1 – Shoulder
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#define M1_IN1 4
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#define M1_IN2 5
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#define M1_IN3 6
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#define M1_IN4 7
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// Motor 2 – Elbow
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#define M2_IN1 15
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#define M2_IN2 16
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#define M2_IN3 17
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#define M2_IN4 18
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// LED
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#define STATUS_LED_PIN 2
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#define STATUS_LED_ON HIGH
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#define STATUS_LED_OFF LOW
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#elif defined(BOARD_ESP32_WROOM)
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// ESP32-WROOM (DevKit V1)
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// Motor 1 – Shoulder
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#define M1_IN1 13
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#define M1_IN2 14
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#define M1_IN3 27
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#define M1_IN4 26
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// Motor 2 – Elbow
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#define M2_IN1 25
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#define M2_IN2 33
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#define M2_IN3 32
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#define M2_IN4 23
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// LED
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#define STATUS_LED_PIN 2
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#define STATUS_LED_ON HIGH
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#define STATUS_LED_OFF LOW
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#else
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#error "No board defined! Please set a board environment in platformio.ini."
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#endif
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// ─── Stepper constants ────────────────────────────────────────────
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#define STEPS_PER_REV 4096
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@@ -61,6 +61,24 @@ The system is powered by a 4S LiPo battery. To protect the battery from over-dis
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## Stepper to Driver Connections
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Simply plug the white 5-pin JST connectors from the 28BYJ-48 motors into the corresponding white sockets on their respective ULN2003 driver boards. The connector is keyed and only fits one way.
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---
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## Alternative Board Pinouts
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The project supports multiple ESP32 variants. The main tables above show the default ESP32-C3 Super Mini. If you are using a different board, follow these logic connections:
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### ESP32-S3 (e.g. DevKitC)
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| Motor | IN1 | IN2 | IN3 | IN4 |
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| :--- | :--- | :--- | :--- | :--- |
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| **Motor 1 (Right)** | GPIO 4 | GPIO 5 | GPIO 6 | GPIO 7 |
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| **Motor 2 (Left)** | GPIO 15 | GPIO 16 | GPIO 17 | GPIO 18 |
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### ESP32-WROOM (e.g. NodeMCU / DevKit V1)
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| Motor | IN1 | IN2 | IN3 | IN4 |
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| :--- | :--- | :--- | :--- | :--- |
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| **Motor 1 (Right)** | GPIO 13 | GPIO 14 | GPIO 27 | GPIO 26 |
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| **Motor 2 (Left)** | GPIO 25 | GPIO 33 | GPIO 32 | GPIO 23 |
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## Schematic Overview
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```mermaid
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