Serial_Servo_ESP32_Software

The ESP32 S3 based Serial Servo Board is designed for precise control of up to 253 Serial Bus Servos. It features built-in Wi-Fi, Bluetooth. Ideal choice for ESP32 based community interested to build robotics projects like hexapod walkers and robotic arms, its compact design ensures compatibility with space-constrained projects.

This Github provides getting started guide for Serial Servo based on ESP32.

Features

Serial Servo powered by ESP32 S3
In build WiFi/BLE capabilities makes it perfect choice for IoT based projects
TFT 1.14” display for user interactions
Two slot to connect Serial Servo Motors, and easily cascade servo to connect more number of motor*
Three Programmable Buttons to add additional control features to your project
Type C interface with Reset and Boot buttons available for programming purpose
Standard 2.54” Header and DC jack options to connect 6-8.4V adapter with onboard regulator
Power status LED to indicate board power
GPIOs breakout for additional peripheral interfacing
Compact and space-saving design
Compatible Servo Motors =>
- SB-SS023 - For Lightweight Projects
- SB-SS15 - For Heavier Applications
- Servo Motor Key Features:
  - Real-Time Position, Load, Temperature, Speed, and Voltage feedback.
  - Servo/Motor Mode Switchable
  - High Precision And Large Torque
  - ID Range 1~253
  - 38400 bps ~ 1Mbps (1Mbps by default)

*NOTE: Avoid Connecting More Than 6 Servos At A Time, Not Recommended Due To High Current Demand By Servos.

For more details about Serial Servo Motor checkout Manual.

Specification:

Microcontroller: ESP32-S3 series of SoCs having Xtensa® dual-core 32-bit LX7 microprocessor
Connectivity: 2.4 GHz Wi-Fi (802.11 b/g/n) and Bluetooth® 5 (LE)
Memory: Flash up to 16 MB, PSRAM up to 8 MB
Board Supply Voltage: 5V
Operating Pin Voltage: 3.3V
Operating Servo voltage: 6~8.4V
Display Size: 1.14”
Display Resolution : 240x320 pixels
Display Driver: ST7789
Display Appearance: RGB, 65K/262K
Temperature Range: -20°C ~ +70°C

Getting Started with Serial Servo Based on ESP32

Pinout

(1) Serial Servo connector
(2) Header 2.5” input (6~8.4V DC)
(3) DC Jack Input (6~8.4V DC)
(4),(5), (6) Programmable Buttons
(7) Boot Button
(8) Type C for Programming/Power
(9) Reset Button
(10) TFT 1.14” Display
(11) ESP32 S3 microcontroller module
(12) Power Status LED
(13) & (14) GPIOs and Power breakout

Interfacing Details

Serial Servo Bus Pins:
- Servo connector having +ve[6~8.4VDC], -ve[GND] and Signal pin.
- Serial Servo Signal pins breakout into UART RXD and TXD to connect with ESP32 UART pins,
  
  ESP32 Servo Description
  
  TXD0/GPIO43 Servo Bus RXD UART communication pin
  
  RXD0/GPIO44 Servo Bus TXD UART communication pin

ESP32	Servo	Description
TXD0/GPIO43	Servo Bus RXD	UART communication pin
RXD0/GPIO44	Servo Bus TXD	UART communication pin

Display interfacing with ESP32

ESP32	Display	Function
IO12	LCD_CLK	Clock pin of SPI interface for Display
IO11	LCD_DIN	MOSI (Master OUT Slave IN) pin of SPI interface
IO10	LCD_CS	Chip Select pin of SPI interface
IO13	LCD_DC	Data/Command (MISO) pin of SPI interface
IO14	LCD_RST	Display Reset pin
IO9	BL	Backlight of display

Buttons Interfacing

ESP32 Hardware Function

IO0 BOOT Boot button

IO4 BT1 Programmable Button

IO5 BT2 Programmable Button

IO6 BT3 Programmable Button

ESP32	Hardware	Function
IO0	BOOT	Boot button
IO4	BT1	Programmable Button
IO5	BT2	Programmable Button
IO6	BT3	Programmable Button

GPIOs Breakout

ESP32	Type*	Multi-Function (Bold-Italic default Function)
DM	I/O/T	RTC_GPIO20, GPIO20, U1CTS, ADC2_CH9, CLK_OUT1, USB_D+
DP	I/O/T	RTC_GPIO19, GPIO19, U1RTS, ADC2_CH8, CLK_OUT2, USB_D-
GND	P	Supply Ground
5V	P	Positive Supply, 5V
3V3	P	Positive Supply, 3.3V
GP8	I/O/T	RTC_GPIO8, GPIO8 , TOUCH8, ADC1_CH7, SUBSPICS1

ESP32	Type*	Multi-Function (Bold-Italic default Function)
GP1	I/O/T	RTC_GPIO1, GPIO1, TOUCH1, ADC1_CH0
GP2	I/O/T	RTC_GPIO2, GPIO2, TOUCH2, ADC1_CH1
GP42	I/O/T	MTMS , GPIO42
GP41	I/O/T	MTDI , GPIO41, CLK_OUT1
GP39	I/O/T	MTCK , GPIO39, CLK_OUT3, SUBSPICS1
GP38	I/O/T	GPIO38 , FSPIWP, SUBSPIWP

*I-INPUT, O-OUTPUT, P-POWER & T-HIGH IMPEDENCE

1. Configure and Setup Development Environment

Download Arduino IDE from official site and install into your system. We have use Arduino IDE 1.8.19
Once installation done will add ESP32 S3 board support into IDE, for this first you need to add below link into preference:
```
https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
```
Select File > Preference, and add link as show in below image,
Now will install ESP32 based boards as shown in below image,
Once done, keeping default settings select the ESP32S3 Dev Module with suitable com port (may be different in your case) as shown below,

2. Installing Libraries

Download library zip file provided here in github.
Extract and copy files inside Document > Arduino > Libraries folder. Make sure to restart Arduino IDE whenever you update or add any libraries.

3. Testing First Code

At this step you are all set to test codes, for easy getting started we have provided various demo example codes in github which you can download and try.
Open one example code in Arduino and make sure you have selected correct board with suitable com port, click on upload button to transfer code on Serial Servo ESP32.
Checkout other examples below and build your own custom program codes using those references.