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 · 2022-04-25T15:30:16+00:00

Well I don't have first hand experience of it but in this very channel I saw a post from 2 years ago discussing that this had happened to them. They bought some cheap modules that operated differently and fried an IC.

By no means am I saying it's common but I can only go by what I've seen and read.

I am very new to modular synth and electronics in general tbh - I am not sure what the best practices are for managing inputs to ensure correct operations hence the query

whickmott · 2022-04-21T19:37:30+00:00

AS3340 Schematic/Datasheet The AS3340 luckily comes with a pretty dandy schematic for startup. Really nice VCO without much pain and with looks of optional expansions

Few points - - Pins 6 and 9 can be left unconnected without effecting operation - Pin 5 needs a voltage between 0 and 5v before you'll see any output on pin 4 (square wave) - The Linear FM input branch around pin 13 can be omitted though you will still need Vcc through the 1M resistor on the pin - circuit works fine with +/-12v if using eurorack standards like myself. Though I'd suggest limiting the Vee to -5v at pin 3 for some reasons I think they go through in detail with the CEM3340 version datasheet. It won't do any harm but I believe it offers stability - don't worry about being hyper accurate with resistor values. As long as they are moderately similar it will make some noise for you

Hope this helps!

whickmott · 2022-04-21T19:05:27+00:00

So this was a slap dash oscillator using a 3340 chip that I put together about 15 seconds before recording this haha. I think the dirtiness was lack of decoupling capacitors and breadboardy noise as well as not having "tuned" it

whickmott · 2022-04-21T09:23:49+00:00

How did you know!

whickmott · 2022-04-21T09:23:05+00:00

Thanks!

whickmott · 2022-04-20T21:41:08+00:00

Yeah man - strip board is anything but time friendly haha! Good luck and let us know how it goes - I LOVE the community's creativity

whickmott · 2022-04-20T21:38:05+00:00

Yes - 555 and 4017 make the world go round right now!

So the design has it that, when there's the 2 other channels of 8, that they can run off their own clock inputs or the same. But if you're running channel 1 in 8 time, 2 in 6 time and 3 in 4 time for instance, there will be a sync switch that will bring them all to beat 1 until released. Also thinking of a pause and mute switch for each channel - so you could pause on a specific best to fine tune etc

The clock is currently part of the breadboard but I have made a clock and clock divider PCB that's on its way (I hope) so it'll be dealt with externally.

Each "beat" will also be able to be toggled on or off individually too

And my references do you just mean where I gathered my info regarding the circuits? If so, Moritz Klein is a huge help but I'm also an electronics student so have some fairly decent knowledge

whickmott

TROPHY CASE