Home
The hardware control for the XRTL is based on ESP32 development boards that are programmed with the XRTL firmware. Once the firmware has been installed, changes can be made via the serial interface.
Several hardware components can be added to a single ESP32, a PCB for connecting up to 2 stepper motors, 2 servo motors, 2 relays and an LED can be found in this repository.
A short guide on how to set up an ESP32 with the firmware can be found here.
The firmware is organized in modules that can be dynamically added and removed from the ESP32 using the serial interface. The modules can communicate internally via an event structure and externally via socket.io, organized by a core module handling all interactions. Currently the following modules are available:
