HannaH

Connect your ESP32

This page only listens. It never sends anything to the arm.

USB cable

Chrome or Edge on a computer. Opening the port can restart the ESP32, the same way the Arduino serial monitor does, so connect before the motors have power.

Bluetooth

Chrome on a computer or an Android phone. Turn on USE_BLE in the sketch first.

Wi-Fi

Turn on USE_WIFI in the sketch first. Browsers only allow this when you open the page as a file on your computer, not from a hosted https address.

Simulator

A built-in arm running a pick and place loop, for trying the page with nothing plugged in.

What the ESP32 should send

One line per frame, about 50 times a second, with the joint angles in degrees from the base up. Add "t" with the angles the arm was told to reach and a pale outline shows the difference.

{"j":[12.5,-40.0,88.0,0.0,20.0,0.0],"t":[14.0,-38.0,90.0,0.0,20.0,0.0]}

A plain line of numbers works too.

12.5,-40.0,88.0,0.0,20.0,0.0

Arm setup

Describe your arm from the base up. Every angle is zero when the arm points straight up.

Keep this setup

This page forgets the setup when it reloads. Paste the line below into ARM_CFG in the sketch and the arm describes itself every time it connects.