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Merge branch 'main' of https://github.com/0x23/MicroManipulatorStepper

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0x23 2026-03-13 09:57:03 +01:00
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README.md
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@ -45,6 +45,10 @@ A new version of the hardware has been released, fixing several issues with the
A video about the improved ball joint and linkage manufactoring process can be found on YT: [Better Ball Joints for the Open Micro-Manipulator](https://www.youtube.com/watch?v=NM2KXvRGmpg)
Also the FreeCAD model was restructured and improved and now includes all pins and fasteners. It now provides a reference for all required mechanical parts.
<div style="display: flex;">
<img src="images/Hardware-v4.0.jpg" alt="Open Micro-Manipulator GUI" width="50%">
</div>
WARNING: BOM is not updated yet...
## Open Micro-Manipulator GUI
@ -100,8 +104,27 @@ wait_for_stop(polling_interval_ms, disable_callbacks)
set_max_acceleration(linear_accel, angular_accel)
set_servo_parameter(pos_kp, pos_ki, vel_kp, vel_ki, vel_filter_tc)
```
## ✨ Firmware v1.0.4
## ✨ Firmware v1.0.1
Firmware 1.0.4 comes with many smaller improvements and bugfixes and a great new feature as well:
- **Tools**: Tool usage (for example for laser engraving) is now supported on the two GPIO pins of J5 on the pcb.
Tools are integrated into the planner and run fast and with correct timing when executing g-code.
The tools support PWM (using the PIO feature to squeeze out extra channels without relying on software PWM).
Example usage:
```
`M3 T0 S0.7` // set pwm output of tool 0 to 70%
`G4 S0.001` // dwell command (or any other motion command) - necessary to apply the tools output
```
- **Calibration**: Calibration has now some addition error checks to improve error reporting of potential problems like encoder alignment.
- **Kinematic Model Parameter**: Initialization code has been cleaned up and better comments where added to the parameters. Parameters are preset for HW v4.0 but you can toggle back to the old HW-v3.0 parameters if necessary.
- **Bugfixes**: smaller bugfixes
IMPORTANT: If you have **Hardware Version v3.0** you need to switch back to the old kinematic parameters in the [kinematic_model_delta3d.cpp](firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.cpp) file (there is an #define for that at the top).
## Firmware v1.0.1
This update improves calibration, homing, logging, and adds several new G-Code commands.
@ -187,6 +210,7 @@ The client must wait for an acknowledgment from the previous command before send
| `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds |
| `G24 X Y Z A B C` | Directly set current pose for servo loops with optional rotation vector* `A`, `B`, `C`. |
| `G28 A-F` | Home one or more joints. <br>• Optional joint selection `A`–`F`. |
| `M3` | Set Tool output. <br>• `T`: tool index <br>• `S`: output value (0.0..1.0) <br> Note: new values is only applied on the next motion or dwell command |
| `M17` | Enable motors and read current pose as the start pose. |
| `M18` | Disable motors. |
| `M50` | Get current internal pose. (Encoders are not read here) |
@ -211,4 +235,6 @@ If you'd like to support this project, consider the following:
- **Support the project on Ko-fi** – If you find this project valuable, you can support it financially via [Ko-fi](https://ko-fi.com/diffractionlimited) ☕.
## Youtube Video
[![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)
[![Watch the video](images/video-thumbnails/01_MicroManipulator.jpg)](https://youtu.be/MgQbPdiuUTw)
[![Better Ball Joints for the Open Micro-Manipulator](images/video-thumbnails/02_BetterBallJoints.jpg)](https://youtu.be/MgQbPdiuUTw)