# esp32_joint_controller

**Repository Path**: a_just_do_it_admin/esp32_joint_controller

## Basic Information

- **Project Name**: esp32_joint_controller
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-11-25
- **Last Updated**: 2023-11-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# esp32_joint_controller

## Short description
ESP32 motion control firmware for a custom joint control board for my 3D printed collaborative 7DOF robotic arm. 

# Features
- Controls a hybrid stepper motor via TMC2160 
  - Closed Loop Stepper Mode
  - Field Oriented Control Servo Cascade Motion Control
    - Position, Velocity and torque loop
- CAN and UART-Interface
- Processes AS5048A motor and shaft encoder
- Kalman Filter for state estimation (Velocities, Accelerations)
- Neural Network PID Gain-Scheduling
- Neural Network feedforward control
- S-Curve Motion Planning