dunkirk.sh
a scrappy gimbal that insults you in shakespearean english
docs: add firmware section
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README.md
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README.md
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| `GND` | `GND` | Ground |
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| `3V3` | `3V3` | Power |
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## firmware
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The firmware is written in circuitpython and is in the [`firmware`](/firmware) directory.
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The firmware sends complete rotations based on serial input in two formats:
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- `[1 or 2] [number]` -> rotate to a position in complete rotations
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- `[1 or 2] zero` -> set current position as zero
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The control is absolute - you specify the rotation count you want to go to rather than relative movement.
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Important notes:
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- Using 200 steps/rotation * 16 microsteps (very precise control)
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- Motors must be enabled by setting enable pin LOW
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- Movement speed controlled by delay between steps (currently 0.0001s)
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- Supports two motors controlled independently
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- Coordinates maintained in number of steps from zero
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- Direction controlled automatically based on target vs current position
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- Movement is blocking - the pico will not respond to serial commands while moving
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## web interface
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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).
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## cad
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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)
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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)
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## schematics / blueprints
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