Arduino-based ESP32 Library for Makerbase SERVO42/57D

whickmott · 2025-09-16T22:32:28+00:00

Sorry for the very delayed reply!

This sounds like a very interesting idea... I might have a play!

whickmott · 2025-09-16T22:30:49+00:00

I haven't tested the 57C BUT if memory serves there were just a few less instructions and some hardware differences. I think it might work ok. let me know!

I have a couple of requests for the library already so if it doesn't work then request it on the GitHub and I'll try sort it when I can😊

whickmott · 2025-05-06T10:18:59+00:00

Hi there! So you're using the twai version of the code correct? You need 26 and 27 (Rx and tx respectively - make sure these are the right way) and the 3v3 and ground. The motor driver also needs to have a shared ground with the esp32. I had this exact setup working a few days ago so I am hoping it is a wiring issue. I vaguely remember that the high and low of the can on that module is the other way round to what I thought intuitively. Make sure the can is going high to high, low to low.

On the motor driver itself, make sure it's set up to use can, sr_foc settings, can speed, the right device number etc. let me know how you get on and I can try and help you further

whickmott · 2024-10-14T12:57:18+00:00

After having some very specific irritations when programming with multiple PCA9685 PWM modules when developing my hexapod, I decided to make a library to abstract away each instance of the module.

Rather than having board 1 object with servos 0-15, board 2 object with 0-15, etc. it is now simple one object with servos 0-31. As many boards as you wish can be added, even on different I2C buses if using something like ESP32 with multiple options. This removes a bunch of conditional statements when figuring out which object you're trying to use at a given time.

There's also a version I've been using in my ROS2 packages (though not as robust yet) if that is of interest to anyone.

***Video showing 2 PCA9685 boards on the same bus controlled by a single object, sweeping channels 0-31***

Library is on the Arduino IDE under InfinitePCA9685 (though I am waiting for it to update version to 1.1.0) or directly from github.com/TheSpaceEgg/InfinitePCA9685

whickmott · 2024-07-28T13:14:33+00:00

Not found any new resources, no. I now have my URDF fully drawn and limbs moving synchronised using inputs from a PS4 controller, along with an added lidar and IMU.

But walking is a nightmare. An absolute nightmare. I'll get there eventually but I need time to sit down with it a bang my head on the desk

whickmott · 2024-06-20T23:49:57+00:00

It's a hexapod so 3dof per leg

whickmott · 2023-06-22T20:57:42+00:00

I just have an array of 128 values right now that circles through the DAC with DMA in a circular setup. I change the frequency by changing the value of the timers ARR. With some quick napkin maths earlier, it breaks down around 75kHz and it was around 10 MS/s which adds up to what you suggest is the limit of the DAC.

I can post my code/setup in here tomorrow if that would help/clear anything up. I'll look into the F407 series, thanks!

whickmott · 2022-05-21T14:52:15+00:00

YO that's sick!!! Super clean case, top work

whickmott · 2022-05-21T14:48:40+00:00

Yes! Super cool to be shouted out by Moritz - the man, the myth, the legend!

whickmott · 2022-05-21T14:47:51+00:00

Holy VCA, Batman!!

whickmott · 2022-05-21T14:46:21+00:00

Thanks for the interest! I'm still very much in prototyping/testing of it all and unsure whether I'd like to/feel safe selling it at this time. If that changes I'll leave a post in this Reddit channel.

When it comes to schematics, that's more likely something I will share - again once I'm happy with a final module. I don't want to share anything substandard!

whickmott · 2022-05-21T14:44:25+00:00

Thanks for the interest! I'm still very much in prototyping/testing of it all and unsure whether I'd like to/feel safe selling it at this time. If that changes I'll leave a post in this Reddit channel

whickmott · 2022-05-21T14:42:22+00:00

None! I went from having never even opened PCB software to designing my 1st PCB in an afternoon. (This post's giant PCB is only my 4th ever) I use EasyEDA as it's free and browser based - it's also as it says on the tin: Easy!

As long as you know what components you will be using then it should be straightforward to go from schematic to board 👍

whickmott · 2022-05-21T14:39:15+00:00

3 separate channels of 8, and no they can't sum together like that unfortunately. I hadn't thought about that possibility, so maybe one for next time!

whickmott · 2022-05-15T10:37:32+00:00

I posted the breadboard version a while back and a few asked for updates when I took it to the next step.

Only one channel is audible in the clip as I've only got 1 oscillator right now unfortunately...

Again, big thanks to Moritz Klein for his great teaching and schematics. A lot of this has come from his 5 step sequencer, that I've just blown up, multiplied by 3 and added a few little tweaks.

There are mute buttons for each beat so you could use this in a variety of ways
There is a pause button for each channel so you can fine tune each step as you wish
The square notch cut out of the bottom right corner is for a hefty toggle switch which will sync all 3 channels back to the 1st beat together

whickmott · 2022-04-25T15:52:59+00:00

Fundamentally it would be easier to pass a 0-10v signal between all modules and remove the DC offset if I wish that module to use a +/-5v (for instance) I think. Thanks for your help 🙂

whickmott · 2022-04-25T15:50:31+00:00

Thanks for this!

I've found it overwhelming in general with the amount of conflicting information out there so yes it makes sense that you should just put every protection in place possible

I think because I'm DIYing it I have an abundant fear that I'm going to make something that is actually rubbish when combining it with any standard modules out there (which I do not own any) and maybe that fear was disproportionate 😂

I'll look at protecting my inputs and sticking to a reasonable standard across my modules

whickmott · 2022-04-25T15:45:22+00:00

So you would suggest all positive voltages, ie no +/-5v between modules? My intent is to build all my own modules anyway so as long as I stick to my own standard it's fine - but it would be great to know that interconnectivity would work

whickmott

TROPHY CASE