![scrapyard box with rainbow coming out and envoloping a camera](https://raw.githubusercontent.com/taciturnaxolotl/myrus/main/.github/images/logo.png) # Myrus ![cad](https://raw.githubusercontent.com/taciturnaxolotl/myrus/main/.github/images/assembly.png)

this is my team's project for `scrapyard columbus` we are making a gymbal that is controlled by a phone app that tracks faces; comunication is done over ~[`iroh`](https://www.iroh.computer/)~ `webserial` and the gymbal is controlled by the hackclub [`blot`](https://blot.hackclub.com) control board jerry rigged to an orpheus pico. you can see a demo of the app at https://www.youtube.com/watch?v=buTqpQQnUd0 ## pins

| Pico Pin | Blot Pin | Description | |----------|----------|-------------| | `GP11` | `D10` | Step signal for Motor 1 | | `GP10` | `D9` | Direction control for Motor 1 | | `GP9` | `D2` | Enable/disable control for both motors | | `GP8` | `D8` | Step signal for Motor 2 | | `GP7` | `D7` | Direction control for Motor 2 | | `GP9` | `D1` | Enable/disable control for both motors | | `GND` | `GND` | Ground | | `3V3` | `3V3` | Power | ## firmware The firmware is written in circuitpython and is in the [`firmware`](/firmware) directory. The firmware sends complete rotations based on serial input in two formats: - `[1 or 2] [number]` -> rotate to a position in complete rotations - `[1 or 2] zero` -> set current position as zero The control is absolute - you specify the rotation count you want to go to rather than relative movement. Important notes: - Using 200 steps/rotation * 16 microsteps (very precise control) - Motors must be enabled by setting enable pin LOW - Movement speed controlled by delay between steps (currently 0.0001s) - Supports two motors controlled independently - Coordinates maintained in number of steps from zero - Direction controlled automatically based on target vs current position - Movement is blocking - the pico will not respond to serial commands while moving ## web interface The web interface is a pwa that is served from cloudflare pages. It uses the web serial api to communicate with the pico. The web interface is hosted at [myrus.dunkirk.sh](https://myrus.dunkirk.sh). ## cad The cad was done in onshape around midnight of the `15th` and can be found and exported from here: [cad.onshape.com/documents/8d200c472...](https://cad.onshape.com/documents/8d200c472fc5b660efdf8352/w/ff1d53ebe00121ac7a3c9bc5/e/6edac687c4356b98c8934741?renderMode=0&uiState=67d649b588856c134638cb6b) ## schematics / blueprints ![blueprint](https://raw.githubusercontent.com/taciturnaxolotl/myrus/main/.github/images/blueprint.svg) ![blot schematic](https://raw.githubusercontent.com/taciturnaxolotl/myrus/master/.github/images/blot-schematic.svg)