Wifi-Controlled Stepper Motor Controller for Parallel Cable Driven Robots (PCDR)

# OpenParallel (THIS VERISON IS OUTDATED V3 IS OUT) #### Description **OpenParallel** is a circut board designed for, in conjunction with other **OpenParallel** boards, embedding into stepper motor pulley assembelies for easy control of 3-6 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. * `TMC2209` stepper driver over uart. * 2 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. * Up to 2A motor hold and run current.. * CP2102 for easy flashing with support for `RTS` and `DTR` signals. * Fits in the footprint of a standard nema 17 motor. * Power indicator led. * * * #### 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 a cnc MCU board with one stepper driver output. 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.