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# OpenParallel **(The cover image is V1, will update when v2 is finished)* #### Description **OpenParallel** is a circut board designed for, in conjunction with other **OpenParallel** boards, embedding into stepper motor pulley assembelies for easy control of 6 DOFs **Parallel Cable Driven Robots (PCDRs)** over Wifi and Low-energy bluetooth. * * * #### Hardware *Currently*, as of version 2 of **OpenParallel**, the hardware consists of the following: * An onboard `ESP32-S3` for easy control via wifi and bluetooth. * Support for an external antenna to extend signal range. * 16MB onboard NAND flash for large firmwares. * 8MB onboard RAM for complex firmares and large instructions. * LSM9D1 9-axis DOF sensor for automatic robot configuration. * A strong LEADSHINE Closed stepper motor for the ultimate experience in power and precision. * An optional endstop inputs. * Dual power input barrel jacks for combining power supply amperages or daisy chaining power to other **OpenParallel** boards. * 5-24V input for motor control. * Small footprint allows embedding of the device * Auxilary power led (RGB). * Combined boot and auxilary button. * Power indicator led. #### BOM - 8x OpenParallel v2 boards. - 8x [Leadshine iCL57-23](https://jlcmc.com/productdetail/K01/iCL57-23) motors. - 8x [CNCed pulleys](https://jlc3dp.com/cnc-machining-quote) (Available in the attachments) - 16x [EDLR-J2-X1-M3-L6 grub screws](https://jlcmc.com/product/s/E02/EDLR/hex-drive-cup-point-set-screws-plain-taper-female-convex) (Apply with loctite while building) - 16x 3d printed parts, listed in the project attachments. - 8x V624zz bearings. - 8x Micro Switches with 55mm arm. - 32x M5x28mm machine screws. - 32x M5 nuts - Various jst connectors and wires not listed due to constantly chanching bom as this project develops. * * * #### Firmware [The S3 branch of FluidNC](https://github.com/bdring/FluidNC/tree/S3_WIP) is the current official firmware of **OpenParallel** project. Follow instalation procedures listed on the FluidNC github [here](http://wiki.fluidnc.com/en/installation#use-vs-code-platformio-to-compile). Please ensure you set your build environment to `wifibt_s3`. While a fully functional firmware, FluidNC is overkill for this project and will soon be replaced by a purpose built firmware currently being developed. **OpenParallel** v1.0 firmware is expected to be released mid to late August, 2024. * * * #### Application *Currently*, the public branch of this project is essentially wireless closed loop stepper controller. This board is intended to be embeded in a device with a light-weight winch to precisely controll the length of a wire. Combined with 7 more similar devices, all a corner of a rectangular room, can control a position of a platform anywhere in said room with 6 DOFs. Platforms can mount items such as smaller robots, cameras, and tools. Release of design files for an official winch system will be released along with the expected release of **OpenParallel** v1.0 firmware in mid to late August, 2024.