A replacement controller for the Intelitek Scorbot ER-4u robot arm. An ESP32 drives the arm's six DC motors and reads its encoders and home switches. A web UI (WiFi, with an access-point fallback) gives jogging, a live 3D view, self-tests, homing and travel calibration, and there is a JSON HTTP/WebSocket API.
| Folder | What's in it |
|---|---|
hardware/scorbot-controller/ |
KiCad 7 project for the master board, generated from Python (generator/design.py), autorouted, with JLCPCB fab files in fab/ |
firmware/ |
ESP-IDF 5.3+ firmware, the single-file web UI, and host-side tests on a simulated arm |
flasher/ |
Guided web firmware installer: open https://columbiagadgetworks.github.io/scorbot/ in Chrome or Edge and flash over USB |
The board takes an ESP32-DevKitC (WROOM-32D or -32E), six motor driver
carriers and a DROK 5 V buck module on headers. The carriers are the DRV8874
board in hardware/drv8874-carrier/, or
Pololu's #4035 (DRV8874) or #4036 (DRV8876), picked with one menuconfig
setting in the firmware. The
robot's DB-50 cable plugs straight in. JLCPCB places the SMD parts (passives,
LEDs, the TCA9555 I/O expander and two ADS1115 ADCs); the connectors, sockets
and big capacitors are through-hole and hand-soldered.
Status: the board has not been ordered or tested, and the firmware has not run on hardware. Read "Must check before ordering boards" in the hardware README before ordering.