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migrate to c3

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osiu97
2026-07-06 19:37:54 +02:00
parent ea4530a5e4
commit 816197bbdd
6 changed files with 38 additions and 37 deletions
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gemini.md
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@@ -22,12 +22,12 @@ only BLE between the ESP32 firmware and a local web SPA.
| Component | Detail |
|---|---|
| **MCU** | Waveshare ESP32-S3-Zero |
| **MCU** | Tenstar Robot ESP32-C3 Super Mini |
| **Framework** | PlatformIO + Arduino core |
| **Motors** | 2× 28BYJ-48 (unipolar stepper via ULN2003 driver) |
| **Motor mode** | `AccelStepper::FULL4WIRE` — 2048 steps/rev |
| **Motor 1 pins** | IN1=4, IN2=5, IN3=6, IN4=7 |
| **Motor 2 pins** | IN1=8, IN2=9, IN3=10, IN4=11 |
| **Motor 1 pins** | IN1=0, IN2=1, IN3=3, IN4=4 |
| **Motor 2 pins** | IN1=5, IN2=6, IN3=7, IN4=10 |
| **USB Serial** | Native USB CDC (`-D ARDUINO_USB_MODE=1 -D ARDUINO_USB_CDC_ON_BOOT=1`) |
| **Default speed** | 600 steps/s, accel 100 steps/s² |
@@ -105,9 +105,9 @@ Name: WijiBoard
## 4. Project Structure
```
esp32s3-wiji/
esp32c3-wiji/
├── index.html # SPA shell — ES module bootstrap, sidebar, routing
├── platformio.ini # PlatformIO config (env: esp32-s3-devkitc-1)
├── platformio.ini # PlatformIO config (env: esp32-c3-devkitm-1)
├── fivebarIKGame.js # REFERENCE ONLY — original site's kinematics (do not import)
├── src/
│ └── main.cpp # ESP32 firmware (BLE + AccelStepper)
index.html
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@@ -6,7 +6,7 @@
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>WijiBoard – Control Dashboard</title>
<meta name="description"
content="WijiBoard SCARA arm control dashboard. Web Bluetooth interface for the ESP32-S3 stepper controller." />
content="WijiBoard SCARA arm control dashboard. Web Bluetooth interface for the ESP32-C3 stepper controller." />
<!-- Shared styles -->
<link rel="stylesheet" href="web/styles/base.css" />
platformio.ini
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@@ -1,10 +1,10 @@
; PlatformIO Project Configuration
; Board: Waveshare ESP32-S3-Zero (or compatible ESP32-S3)
; Board: Tenstar Robot ESP32-C3 Super Mini (or compatible ESP32-C3)
; Project: WijiBoard – BLE SCARA Stepper Controller
[env:esp32-s3-devkitc-1]
[env:esp32-c3-devkitm-1]
platform = espressif32
board = esp32-s3-devkitc-1
board = esp32-c3-devkitm-1
framework = arduino
; USB CDC on boot – Serial Monitor works over native USB
@@ -13,6 +13,7 @@ build_flags =
-D ARDUINO_USB_CDC_ON_BOOT=1
board_upload.flash_size = 4MB
board_build.flash_mode = dio
board_build.partitions = default.csv
; Adjust to your COM port
src/main.cpp
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@@ -2,7 +2,7 @@
* WijiBoard – BLE Stepper Controller Firmware
* src/main.cpp
*
* Board : Waveshare ESP32-S3-Zero (or compatible ESP32-S3)
* Board : Tenstar Robot ESP32-C3 Super Mini (or compatible ESP32-C3)
* Steppers: Two 28BYJ-48 via ULN2003 (AccelStepper, FULL4WIRE mode)
*
* BLE Command Characteristic (WRITE_NR):
@@ -35,16 +35,16 @@
// ─── Motor pin mapping (28BYJ-48 / ULN2003) ──────────────────────
// Motor 1 – Shoulder
#define M1_IN1 4
#define M1_IN2 5
#define M1_IN3 6
#define M1_IN4 7
#define M1_IN1 0
#define M1_IN2 1
#define M1_IN3 3
#define M1_IN4 4
// Motor 2 – Elbow
#define M2_IN1 8
#define M2_IN2 9
#define M2_IN3 10
#define M2_IN4 11
#define M2_IN1 5
#define M2_IN2 6
#define M2_IN3 7
#define M2_IN4 10
// ─── Stepper constants ────────────────────────────────────────────
#define STEPS_PER_REV 2048
web/js/sections/home.js
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@@ -45,7 +45,7 @@ const HomeSection = {
<p style="font-size:0.82rem;line-height:1.8;color:var(--text-secondary)">
This dashboard controls a two-arm SCARA robot that moves a planchette
across a spirit board. It uses <strong style="color:var(--text-primary)">Web Bluetooth</strong>
to communicate with an ESP32-S3 running two 28BYJ-48 stepper motors
to communicate with an ESP32-C3 running two 28BYJ-48 stepper motors
with AccelStepper.
</p>
</div>
wiring_diagram.md
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@@ -3,7 +3,7 @@
This document outlines the hardware connections for the WijiBoard.
## Hardware Components
- **Microcontroller**: Waveshare ESP32-S3-Zero
- **Microcontroller**: Tenstar Robot ESP32-C3 Super Mini
- **Motors**: 2× 28BYJ-48 (5V Stepper Motors)
- **Motor Drivers**: 2× ULN2003 Driver Boards
- **Power System**:
@@ -16,7 +16,7 @@ This document outlines the hardware connections for the WijiBoard.
## Power Connections
The system is powered by a 4S LiPo battery. To protect the battery from over-discharge, it is connected to an **XH-M609** module. The output of the XH-M609 is split into two separate **Buck Regulators**, both tuned to output 5V.
1. **Buck Regulator 1 (MCU Power)**: Dedicated to powering the ESP32-S3-Zero.
1. **Buck Regulator 1 (MCU Power)**: Dedicated to powering the ESP32-C3 Super Mini.
2. **Buck Regulator 2 (Motor Power)**: Dedicated to powering both ULN2003 driver boards to prevent voltage drops or electrical noise from affecting the MCU.
> [!IMPORTANT]
@@ -26,35 +26,35 @@ The system is powered by a 4S LiPo battery. To protect the battery from over-dis
| :--- | :--- | :--- |
| **4S LiPo** | `BAT+` / `BAT-` | XH-M609 `VIN+` / `VIN-` |
| **XH-M609** | `VOUT+` / `VOUT-` | Split to **IN+** and **IN-** on both Buck Regulators |
| **Buck 1 (MCU)** | `OUT+ (5V)` | ESP32-S3-Zero `5V` (used as power input) |
| **Buck 1 (MCU)** | `OUT- (GND)` | ESP32-S3-Zero `GND` |
| **Buck 1 (MCU)** | `OUT+ (5V)` | ESP32-C3 Super Mini `5V` (used as power input) |
| **Buck 1 (MCU)** | `OUT- (GND)` | ESP32-C3 Super Mini `GND` |
| **Buck 2 (Motors)**| `OUT+ (5V)` | ULN2003 (M1) `+ / 5V` and ULN2003 (M2) `+ / 5V` |
| **Buck 2 (Motors)**| `OUT- (GND)` | ULN2003 (M1) `- / GND` and ULN2003 (M2) `- / GND` |
| **ESP32-S3-Zero** | `GND` | Tie to the motor ground network (Common Ground) |
| **ESP32-C3 Super Mini** | `GND` | Tie to the motor ground network (Common Ground) |
---
## Motor 1 (Right Motor) Logic
**Physical Location**: Right side (pivot at +12.9mm)
| ESP32-S3-Zero Pin | ULN2003 (Motor 1) Pin |
| ESP32-C3 Super Mini Pin | ULN2003 (Motor 1) Pin |
| :--- | :--- |
| **GPIO 4** | `IN1` |
| **GPIO 5** | `IN2` |
| **GPIO 6** | `IN3` |
| **GPIO 7** | `IN4` |
| **GPIO 0** | `IN1` |
| **GPIO 1** | `IN2` |
| **GPIO 3** | `IN3` |
| **GPIO 4** | `IN4` |
---
## Motor 2 (Left Motor) Logic
**Physical Location**: Left side (pivot at -12.9mm)
| ESP32-S3-Zero Pin | ULN2003 (Motor 2) Pin |
| ESP32-C3 Super Mini Pin | ULN2003 (Motor 2) Pin |
| :--- | :--- |
| **GPIO 8** | `IN1` |
| **GPIO 9** | `IN2` |
| **GPIO 10** | `IN3` |
| **GPIO 11** | `IN4` |
| **GPIO 5** | `IN1` |
| **GPIO 6** | `IN2` |
| **GPIO 7** | `IN3` |
| **GPIO 10** | `IN4` |
---
@@ -71,7 +71,7 @@ flowchart LR
XHM609 -->|14.8V| BUCK2[Buck Regulator 2]
end
BUCK1 -->|5V Power| ESP[ESP32-S3-Zero]
BUCK1 -->|5V Power| ESP[ESP32-C3 Super Mini]
BUCK2 -->|5V Power| M1_Driver[ULN2003 M1]
BUCK2 -->|5V Power| M2_Driver[ULN2003 M2]
@@ -80,8 +80,8 @@ flowchart LR
ESP -. Common Ground .- M2_Driver
%% Logic Signals
ESP -- Pins 4,5,6,7 --> M1_Driver
ESP -- Pins 8,9,10,11 --> M2_Driver
ESP -- Pins 0,1,3,4 --> M1_Driver
ESP -- Pins 5,6,7,10 --> M2_Driver
%% Motors
M1_Driver == 5-wire cable ==> M1[Motor 1 - Right]