This repository is focused on the development of a robot head and neck assembly, controlled by an ESP32 DevKit V1. The assembly is designed to allow for precise movements in multiple axes, enabling the robot head to simulate human-like motions. The system is controlled via Bluetooth, allowing for wireless operation.

• Six Degrees of Freedom: The robot head and neck assembly can move in six different axes, providing a wide range of motion.
• Bluetooth Control: Movement commands can be sent wirelessly via Bluetooth, enabling remote control of the robot head.
• Precise Movement: Utilizes the FastAccelStepper library for smooth and precise stepper motor control.
• Adjustable Speed and Acceleration: Movement speed and acceleration can be adjusted dynamically through commands.
• Multiple Input Options: Accepts commands via both Bluetooth and USB Serial, providing flexibility in control methods.

• ESP32 DevKit V1
• Six A4988 Stepper Motor Drivers
• Six NEMA 17 Stepper Motors
• Leadscrews and Mechanical Assembly for the Robot Head and Neck
• Power Supply for the Motors and ESP32
• Bluetooth Module (if not integrated into the ESP32 DevKit V1)

• PlatformIO for ESP32 development
• FastAccelStepper library for stepper motor control

1. Hardware Setup:
   • Connect each stepper motor to an A4988 driver according to the pin map below.

• Pin 25 is optional for software based enable, however I tie all enable pins to ground to enable permanently.
• Connect the step and direction pins of each A4988 driver to the corresponding pins on the ESP32.
• Ensure the power supply is adequately rated for the stepper motors and the ESP32, 12-24v is safe.
• If you want to modify your maxmimum current for the steppers, please use this guide!

2. Software Setup:

   • Open this folder in VSCode
   • Install PlatformIO and set up a new project for the ESP32 DevKit V1.
   • Add the FastAccelStepper library to the project dependencies.
   • Upload the provided script to the ESP32.

3. Bluetooth Configuration:

   • Pair the ESP32 with your Bluetooth control device.
   • Use the device name "NECK_BT" for connecting.
   • Send commands with the script in the py folder called neck_con.py
   • Import move(x,y) methods into parallel scripts, such as Supervision.
   • Modify the values on line 45 through 53 to reflect your imager resolution.
   • Add your own control schemes from and additional functions to neck_con.py and access them for your application.

Send movement commands to the ESP32 via Bluetooth or USB Serial in the following format:

• Direct Control: 1:100,2:200,3:-150,... where the number before the colon represents the motor number (1-6) and the number after the colon represents the target position in millimeters.
• Angle and Height Control: X10,Y-5,Z15,H30,S1.5,A2,R10,P-5 where X, Y, and Z are the angles and planes for yaw or radial rotation, lateral, and ventral/dorsal translation respectively, H is the height offset, S is the speed multiplier, A is the acceleration multiplier, R is the roll angle, and P is the pitch angle.
• Default Values: The speed variable (speedVar) is set to 48000 hz, and acceleration value (accVar) is set to 36000. Refer to FastAccelStepper library for more details on where those variables are passed.

• Ensure that the mechanical limits of the robot head and neck assembly are not exceeded to avoid damage.
• The speed and acceleration values should be set carefully to prevent excessive wear on the mechanical components.

• Implement feedback mechanisms such as encoders or limit switches for more precise control.
• Develop a user-friendly interface for controlling the robot head and neck assembly.
• Integrate sensors for autonomous movement and interaction.

This project is open-source and available under the MIT License.

• Thanks to the developers of the FastAccelStepper library for providing an efficient way to control stepper motors with the ESP32.
• Gratitude to the ESP32 community for their valuable resources and support.