tft display with esp32 pricelist

Makerfabs ESP32-C3 TFT Touch equips with ESP32-C3, which is a single-core Wi-Fi and Bluetooth 5 (LE) microcontroller SoC, built around a 32-bit RISC-V chip processor with a four-stage pipeline that operates at up to 160 MHz, with 4MB Flash, 400KB SRAM. There is the comparison of ESP chip families: https://gist.github.com/sekcompsci/2bf39e715d5fe47579fa184fa819f421

Being a number of the Makerfabs ESP Display family, this ESP32 C3 SPI 3.5 inch Touch is 320*480, with ILI9488 driver. Same as the other Makerfab"s ESP32 displays, there 2 USB connectors, one for USB2UART convertor, and 1 USB native; on-board SD card, and Mabee connector(I2C) which is Seeedstudio Grove compatible, so it fits for applications that need sensor connected.

Compares to Other Makerfabs ESP32 displays, this TFT Touch suits for Makers that are interested in ESP32-C3 RISC V architecture, not Tensilica, and has Bluetooth LE (not classic!). Note that we Makerfabs open all its hardware design files to users" remix, and the most basic demo usage.

A beautiful 3.5” touchscreen display, based on ESP32-WROVER, with a built-in 2M pixel OV2640 camera, makes it an ever perfect platform for your ESP32 projects.

Makerfabs ESP32 3.5” Touch with camera is absolutely open for makers, and besides, Makerfabs provide plenty of Demos to help the users on the usage. Have a try at this fantastic display in your next ESP32 project!~

Along 3 years I have been trying several leg mechanism, at first I decided to do a simple desing with tibial motor where placed on femur joint.This design had several problems, like it wasn"t very robust and the most importat is that having the motor (with big mass) that far from the rotating axis, caused that in some movements it generate unwanted dynamics to the robot body, making controlability worse.New version have both motors of femur/tibial limb at coxa frame, this ends with a very simple setup and at the same time, the heaviest masses of the mechanism are centered to the rotating axis of coxa limb, so even though the leg do fast movements, inertias won"t be strong enough to affect the hole robot mass, achieving more agility.Inverse Kinematics of the mechanismAfter building it I notice that this mechanism was very special for another reason, at the domain the leg normally moves, it acts as a diferential mecanism, this means that torque is almost all the time shared between both motor of the longer limbs. That was an improvent since with the old mechanism tibial motor had to hold most of the weight and it was more forced than the one for femur.To visualize this, for the same movement, we can see how tibial motor must travel more arc of angel that the one on the new version.In order to solve this mechanism, just some trigonometry is needed. Combining both cosine and sine laws, we can obtain desired angle (the one between femur and tibia) with respect to the angle the motor must achieve.Observing these equations, with can notice that this angle (the one between femur and tibia) depends on both servos angles, which means both motors are contributing to the movement of the tibia.Calibration of servosAnother useful thing to do if we want to control servo precisely is to print a calibration tool for our set up. As shown in the image below, in order to know where real angles are located, angle protactor is placer just in the origin of the rotating joint, and choosing 2 know angles we can match PWM signal to the real angles we want to manipulate simply doing a lineal relation between angles and PWM pulse length.Then a simple program in the serial console can be wrtten to let the user move the motor to the desired angle. This way the calibration process is only about placing motor at certain position and everything is done and we won"t need to manually introduce random values that can be a very tedious task.With this I have achieved very good calibrations on motors, which cause the robot to be very simetrial making the hole system more predictable. Also the calibration procedure now is very easy to do, as all calculations are done automatically. Check Section 1 for the example code for calibration.More about this can be seen in the video below, where all the building process is shown as well as the new leg in action.SECTION 1:In the example code below, you can see how calibration protocol works, it is just a function called calibrationSecuence() which do all the work until calibration is finished. So you only need to call it one time to enter calibration loop, for example by sending a "c" character thought the serial console.Also some useful function are used, like moving motor directly with analogWrite functions which all the calculations involved, this is a good point since no interrupts are used.This code also have the feature to calibrate the potentiometer coming from each motor.#define MAX_PULSE 2500 #define MIN_PULSE 560 /*---------------SERVO PIN DEFINITION------------------------*/ int m1 = 6;//FR int m2 = 5; int m3 = 4; int m4 = 28;//FL int m5 = 29; int m6 = 36; int m7 = 3;//BR int m8 = 2; int m9 = 1; int m10 = 7;//BL int m11 = 24; int m12 = 25; int m13 = 0;//BODY /*----------------- CALIBRATION PARAMETERS OF EACH SERVO -----------------*/ double lowLim[13] = {50, 30, 30, 50, 30, 30, 50, 30, 30, 50, 30, 30, 70}; double highLim[13] = {130, 150, 150, 130, 150, 150, 130, 150, 150, 130, 150, 150, 110}; double a[13] = { -1.08333, -1.06667, -1.07778, //FR -1.03333, 0.97778, 1.01111, //FL 1.03333, 1.05556, 1.07778, //BR 1.07500, -1.07778, -1.00000, //BL 1.06250 }; double b[13] = {179.0, 192.0, 194.5, //FR 193.0, 5.5, -7.5, //FL 7.0, -17.0, -16.0, //BR -13.5, 191.5, 157.0, //BL -0.875 }; double ae[13] = {0.20292, 0.20317, 0.19904 , 0.21256, -0.22492, -0.21321, -0.21047, -0.20355, -0.20095, -0.20265, 0.19904, 0.20337, -0.20226 }; double be[13] = { -18.59717, -5.70512, -2.51697, -5.75856, 197.29411, 202.72169, 185.96931, 204.11902, 199.38663, 197.89534, -5.33768, -32.23424, 187.48058 }; /*--------Corresponding angles you want to meassure at in your system-----------*/ double x1[13] = {120, 135, 90, 60, 135 , 90, 120, 135, 90, 60, 135, 90, 110}; //this will be the first angle you will meassure double x2[13] = {60, 90, 135, 120, 90, 135, 60, 90, 135, 120, 90, 135, 70};//this will be the second angle you will meassure for calibration /*--------You can define a motor tag for each servo--------*/ String motorTag[13] = {"FR coxa", "FR femur", "FR tibia", "FL coxa", "FL femur", "FL tibia", "BR coxa", "BR femur", "BR tibia", "BL coxa", "BL femur", "BL tibia", "Body angle" }; double ang1[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; double ang2[13] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; float xi[500]; float yi[500]; float fineAngle; float fineL; float fineH; int motorPin; int motor = 0; float calibrationAngle; float res = 1.0; float ares = 0.5; float bres = 1.0; float cres = 4.0; float rawAngle; float orawAngle; char cm; char answer; bool interp = false; bool question = true; bool swing = false; int i; double eang; int freq = 100; // PWM frecuency can be choosen here. void connectServos() { analogWriteFrequency(m1, freq); //FR coxa digitalWrite(m1, LOW); pinMode(m1, OUTPUT); analogWriteFrequency(m2, freq); //femur digitalWrite(m2, LOW); pinMode(m2, OUTPUT); analogWriteFrequency(m3, freq); //tibia digitalWrite(m3, LOW); pinMode(m3, OUTPUT); analogWriteFrequency(m4, freq); //FL coxa digitalWrite(m4, LOW); pinMode(m4, OUTPUT); analogWriteFrequency(m5, freq); //femur digitalWrite(m5, LOW); pinMode(m5, OUTPUT); analogWriteFrequency(m6, freq); //tibia digitalWrite(m6, LOW); pinMode(m6, OUTPUT); analogWriteFrequency(m7, freq); //FR coxa digitalWrite(m7, LOW); pinMode(m7, OUTPUT); analogWriteFrequency(m8, freq); //femur digitalWrite(m8, LOW); pinMode(m8, OUTPUT); analogWriteFrequency(m9, freq); //tibia digitalWrite(m9, LOW); pinMode(m9, OUTPUT); analogWriteFrequency(m10, freq); //FR coxa digitalWrite(m10, LOW); pinMode(m10, OUTPUT); analogWriteFrequency(m11, freq); //femur digitalWrite(m11, LOW); pinMode(m11, OUTPUT); analogWriteFrequency(m12, freq); //tibia digitalWrite(m12, LOW); pinMode(m12, OUTPUT); analogWriteFrequency(m13, freq); //body digitalWrite(m13, LOW); pinMode(m13, OUTPUT); } void servoWrite(int pin , double angle) { float T = 1000000.0f / freq; float usec = float(MAX_PULSE - MIN_PULSE) * (angle / 180.0) + (float)MIN_PULSE; uint32_t duty = int(usec / T * 4096.0f); analogWrite(pin , duty); } double checkLimits(double angle , double lowLim , double highLim) { if ( angle >= highLim ) { angle = highLim; } if ( angle <= lowLim ) { angle = lowLim; } return angle; } int motorInfo(int i) { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); if (i == 0) { rawAngle = enc1; motorPin = m1; } else if (i == 1) { rawAngle = enc2; motorPin = m2; } else if (i == 2) { rawAngle = enc3; motorPin = m3; } else if (i == 3) { rawAngle = enc4; motorPin = m4; } else if (i == 4) { rawAngle = enc5; motorPin = m5; } else if (i == 5) { rawAngle = enc6; motorPin = m6; } else if (i == 6) { rawAngle = enc7; motorPin = m7; } else if (i == 7) { rawAngle = enc8; motorPin = m8; } else if (i == 8) { rawAngle = enc9; motorPin = m9; } else if (i == 9) { rawAngle = enc10; motorPin = m10; } else if (i == 10) { rawAngle = enc11; motorPin = m11; } else if (i == 11) { rawAngle = enc12; motorPin = m12; } else if (i == 12) { rawAngle = enc13; motorPin = m13; } return rawAngle , motorPin; } void moveServos(double angleBody , struct vector anglesServoFR , struct vector anglesServoFL , struct vector anglesServoBR , struct vector anglesServoBL) { //FR anglesServoFR.tetta = checkLimits(anglesServoFR.tetta , lowLim[0] , highLim[0]); fineAngle = a[0] * anglesServoFR.tetta + b[0]; servoWrite(m1 , fineAngle); anglesServoFR.alpha = checkLimits(anglesServoFR.alpha , lowLim[1] , highLim[1]); fineAngle = a[1] * anglesServoFR.alpha + b[1]; servoWrite(m2 , fineAngle); anglesServoFR.gamma = checkLimits(anglesServoFR.gamma , lowLim[2] , highLim[2]); fineAngle = a[2] * anglesServoFR.gamma + b[2]; servoWrite(m3 , fineAngle); //FL anglesServoFL.tetta = checkLimits(anglesServoFL.tetta , lowLim[3] , highLim[3]); fineAngle = a[3] * anglesServoFL.tetta + b[3]; servoWrite(m4 , fineAngle); anglesServoFL.alpha = checkLimits(anglesServoFL.alpha , lowLim[4] , highLim[4]); fineAngle = a[4] * anglesServoFL.alpha + b[4]; servoWrite(m5 , fineAngle); anglesServoFL.gamma = checkLimits(anglesServoFL.gamma , lowLim[5] , highLim[5]); fineAngle = a[5] * anglesServoFL.gamma + b[5]; servoWrite(m6 , fineAngle); //BR anglesServoBR.tetta = checkLimits(anglesServoBR.tetta , lowLim[6] , highLim[6]); fineAngle = a[6] * anglesServoBR.tetta + b[6]; servoWrite(m7 , fineAngle); anglesServoBR.alpha = checkLimits(anglesServoBR.alpha , lowLim[7] , highLim[7]); fineAngle = a[7] * anglesServoBR.alpha + b[7]; servoWrite(m8 , fineAngle); anglesServoBR.gamma = checkLimits(anglesServoBR.gamma , lowLim[8] , highLim[8]); fineAngle = a[8] * anglesServoBR.gamma + b[8]; servoWrite(m9 , fineAngle); //BL anglesServoBL.tetta = checkLimits(anglesServoBL.tetta , lowLim[9] , highLim[9]); fineAngle = a[9] * anglesServoBL.tetta + b[9]; servoWrite(m10 , fineAngle); anglesServoBL.alpha = checkLimits(anglesServoBL.alpha , lowLim[10] , highLim[10]); fineAngle = a[10] * anglesServoBL.alpha + b[10]; servoWrite(m11 , fineAngle); anglesServoBL.gamma = checkLimits(anglesServoBL.gamma , lowLim[11] , highLim[11]); fineAngle = a[11] * anglesServoBL.gamma + b[11]; servoWrite(m12 , fineAngle); //BODY angleBody = checkLimits(angleBody , lowLim[12] , highLim[12]); fineAngle = a[12] * angleBody + b[12]; servoWrite(m13 , fineAngle); } double readEncoderAngles() { enc1 , enc2 , enc3 , enc4 , enc5 , enc6 , enc7 , enc8 , enc9 , enc10 , enc11 , enc12 , enc13 = readEncoders(); eang1 = ae[0] * enc1 + be[0]; eang2 = ae[1] * enc2 + be[1]; eang3 = ae[2] * enc3 + be[2]; eang4 = ae[3] * enc4 + be[3]; eang5 = ae[4] * enc5 + be[4]; eang6 = ae[5] * enc6 + be[5]; eang7 = ae[6] * enc7 + be[6]; eang8 = ae[7] * enc8 + be[7]; eang9 = ae[8] * enc9 + be[8]; eang10 = ae[9] * enc10 + be[9]; eang11 = ae[10] * enc11 + be[10]; eang12 = ae[11] * enc12 + be[11]; eang13 = ae[12] * enc13 + be[12]; return eang1 , eang2 , eang3 , eang4 , eang5 , eang6 , eang7 , eang8 , eang9 , eang10 , eang11 , eang12 , eang13; } void calibrationSecuence( ) { //set servos at their middle position at firstt for (int i = 0; i <= 12; i++) { rawAngle , motorPin = motorInfo(i); servoWrite(motorPin , 90); } // sensorOffset0 = calibrateContacts(); Serial.println(" "); Serial.println("_________________________________SERVO CALIBRATION ROUTINE_________________________________"); Serial.println("___________________________________________________________________________________________"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "); Serial.println(" "s"-> SAVE ANGLE."); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); while (CAL == true) { if (Serial.available() > 0) { cm = Serial.read(); if (cm == "x") { Serial.println("Closing CALIBRATION program..."); CAL = false; secuence = false; startDisplay(PAGE); angleBody = 90; anglesIKFR.tetta = 0.0; anglesIKFR.alpha = -45.0; anglesIKFR.gamma = 90.0; anglesIKFL.tetta = 0.0; anglesIKFL.alpha = -45.0; anglesIKFL.gamma = 90.0; anglesIKBR.tetta = 0.0; anglesIKBR.alpha = 45.0; anglesIKBR.gamma = -90.0; anglesIKBL.tetta = 0.0; anglesIKBL.alpha = 45.0; anglesIKBL.gamma = -90.0; } else if (cm == "i") { // + Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println("(*) Don"t send several caracter at the same time."); delay(500); Serial.println(" "); Serial.println("Keyboard: "x"-> EXIT CALIBRATION. "c"-> ENTER CALIBRATION."); Serial.println(" "i"-> PRINT INFORMATION. "); Serial.println(" "); Serial.println(" "n"-> CHANGE MOTOR (+). "b" -> CHANGE MOTOR (-)."); Serial.println(" "m"-> START CALIBRATION."); Serial.println(" "q"-> STOP CALIBRATION."); Serial.println(" "); Serial.println(" "r"-> CHANGE RESOLUTION."); Serial.println(" "p"-> ADD ANGLE. "o"-> SUBTRACT ANGLE. "s"-> SAVE ANGLE."); Serial.println(" "); delay(500); Serial.println(" "); Serial.println("---------------------------------------------------------------------------------------------------"); Serial.println(" "); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); Serial.println("Actual parameters of the motor: "); Serial.print("High limit: "); Serial.print(highLim[motor]); Serial.print(" Low limit: "); Serial.print(lowLim[motor]); Serial.print(" Angle 1: "); Serial.print(ang1[motor]); Serial.print(" Angle 2: "); Serial.println(ang2[motor]); Serial.println("---------------------------------------------------------------------------------------------------"); } else if (cm == "m") { // + secuence = true; } else if (cm == "s") { // + } else if (cm == "n") { // + motor++; if (motor >= 13) { motor = 0; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "b") { // + motor--; if (motor < 0) { motor = 13 - 1; } Serial.print("SELECTED MOTOR: "); Serial.println(motorTag[motor]); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } } if (secuence == true) { Serial.print("Starting secuence for motor: "); Serial.println(motorTag[motor]); for (int i = 0; i <= 30; i++) { delay(20); Serial.print("."); } Serial.println("."); while (question == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 100000) { previousMicros = currentMicros; if (Serial.available() > 0) { answer = Serial.read(); if (answer == "y") { question = false; interp = true; secuence = true; } else if (answer == "n") { question = false; interp = false; secuence = true; } else { Serial.println("Please, select Yes(y) or No(n)."); } } } } answer = "t"; question = true; if (interp == false) { Serial.println("___"); Serial.println(" | Place motor at 1ts position and save angle"); Serial.println(" | This position can be the higher one"); rawAngle , motorPin = motorInfo(motor); calibrationAngle = 90; //start calibration at aproximate middle position of the servo. while (secuence == true) { /* find first calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang1[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } if (cm == "q") { Serial.println(" |"); } else { secuence = true; Serial.println("___"); Serial.println(" | Place motor at 2nd position and save angle"); Serial.println(" | This position can be the lower one"); } while (secuence == true) { /* find second calibration angle */ if (Serial.available() > 0) { cm = Serial.read(); if (cm == "p") { // + Serial.print(" | +"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle + res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "o") { // - Serial.print(" | -"); Serial.print(res); Serial.print(" : "); calibrationAngle = calibrationAngle - res; servoWrite(motorPin , calibrationAngle); Serial.println(calibrationAngle); } else if (cm == "r") { // + if (res == ares) { res = bres; } else if (res == bres) { res = cres; } else if (res == cres) { res = ares; } Serial.print("SELECTED RESOLUTION: "); Serial.println(res); } else if (cm == "q") { // quit secuence secuence = false; Serial.println(" | Calibration interrupted!!"); } else if (cm == "s") { // save angle ang2[motor] = calibrationAngle; secuence = false; Serial.print(" | Angle saved at "); Serial.println(calibrationAngle); } } } /*--------------------start calibration calculations------------------*/ if (cm == "q") { Serial.println("___|"); Serial.println("Calibration finished unespected."); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } else { Serial.println("___"); Serial.println(" |___"); Serial.print( " | | Interpolating for motor: "); Serial.println(motorTag[motor]); secuence = true; //real angle is calculated interpolating both angles to a linear relation. a[motor] = (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); b[motor] = ang1[motor] - x1[motor] * (ang2[motor] - ang1[motor]) / (x2[motor] - x1[motor]); Serial.println(" | |"); } interp = true; } /*---------------------------make swing movement to interpolate motor encoder-----*/ if (interp == true and secuence == true) { delay(200); double x; int k = 0; int stp = 180; swing = true; i = 0; orawAngle , motorPin = motorInfo(motor); previousMicros = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (x2[motor] - x1[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // FIRST unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // moving unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x2[motor] + float(i) * (x1[motor] - x2[motor]) / stp; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 6) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } swing = true; i = 0; while (swing == true) { // SECOND unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor]; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); if ((i % 3) == 0) { yi[k+1] = x; xi[k] = rawAngle; Serial.print(" | | Real ang: "); Serial.print(x); Serial.print(" -> Servo ang: "); Serial.print(calibrationAngle); Serial.print(" Enc: "); Serial.println(rawAngle); k++; } if (i >= stp) { swing = false; } i++; } } Serial.println(" | | Interpolation finished!"); /*-------Calculate linear interpolation of the encoder from 60 meassures done in swing------*/ double sx = 0; double sy = 0; double sx2 = 0; double sy2 = 0; double sxy = 0; double xmean = 0; double ymean = 0; int n = 300; for (int i = 0 ; i < n ; i++) { sx += xi[i+10]; sy += yi[i+10]; sx2 += xi[i+10] * xi[i+10]; sy2 += yi[i+10] * yi[i+10]; sxy += xi[i+10] * yi[i+10]; } ae[motor] = (n * sxy - sx * sy) / (n * sx2 - sx * sx); //sxy / sx2; // be[motor] = (sy - ae[motor] * sx) / n; //ymean - ae[motor] * xmean; Serial.println(" | | Moving back to ZERO position."); // turn the motor back to middle position swing = true; i = 0; while (swing == true) { unsigned long currentMicros = micros(); if (currentMicros - previousMicros >= 10000) { // save the last time you blinked the LED previousMicros = currentMicros; x = x1[motor] + float(i) * (90 - x1[motor]) / 60; calibrationAngle = a[motor] * x + b[motor]; servoWrite(motorPin , calibrationAngle); rawAngle , motorPin = motorInfo(motor); eang = ae[motor] * rawAngle + be[motor]; if ((i % 4) == 0) { Serial.print(" | | Servo ang: "); Serial.print(calibrationAngle); Serial.print(" -> Real ang: "); Serial.print(x); Serial.print(" -> Encoder ang: "); Serial.println(eang); } if (i >= 60) { swing = false; } i++; } } Serial.println("___|___|"); Serial.println(" | "); Serial.println("___"); Serial.println(" | Calibration finished satisfactory. Results data:"); Serial.print(" | HIGH lim: "); Serial.print(highLim[motor]); Serial.print(" LOW lim: "); Serial.println(lowLim[motor]); Serial.print(" | angle 1: "); Serial.print(ang1[motor]); Serial.print(" angle 2 "); Serial.println(ang2[motor]); Serial.print(" | Regression Motor a: "); Serial.print(a[motor], 5); Serial.print(" b: "); Serial.println(b[motor], 5); Serial.print(" | Regression Encoder a: "); Serial.print(ae[motor], 5); Serial.print(" b: "); Serial.println(be[motor], 5); Serial.println(" |"); Serial.println(" | ______________________________________________________________"); Serial.println(" | | |"); Serial.println(" | | This code won"t be able to save the updated parameters |"); Serial.println(" | | once the robot is shutted down. |"); Serial.println(" | | |"); Serial.println(" | | Please, write down the results |"); Serial.println(" | | and save them in the definition of each variable. |"); Serial.println(" | |_____________________________________________________________|"); Serial.println(" |"); Serial.println("___|"); Serial.println(" Select another motor."); Serial.print("SELECTED MOTOR: "); Serial.print(motorTag[motor]); Serial.print(". SELECTED RESOLUTION: "); Serial.println(res); } interp = false; secuence = false; } } SAFE = false; Serial.println("Calibration killed"); } // END OF CALIBRATION

In this guide we’re going to show you how you can use the 1.8 TFT display with the Arduino. You’ll learn how to wire the display, write text, draw shapes and display images on the screen.

The 1.8 TFT is a colorful display with 128 x 160 color pixels. The display can load images from an SD card – it has an SD card slot at the back. The following figure shows the screen front and back view.

This module uses SPI communication – see the wiring below . To control the display we’ll use the TFT library, which is already included with Arduino IDE 1.0.5 and later.

The TFT display communicates with the Arduino via SPI communication, so you need to include the SPI library on your code. We also use the TFT library to write and draw on the display.

In which “Hello, World!” is the text you want to display and the (x, y) coordinate is the location where you want to start display text on the screen.

The 1.8 TFT display can load images from the SD card. To read from the SD card you use the SD library, already included in the Arduino IDE software. Follow the next steps to display an image on the display:

Note: some people find issues with this display when trying to read from the SD card. We don’t know why that happens. In fact, we tested a couple of times and it worked well, and then, when we were about to record to show you the final result, the display didn’t recognized the SD card anymore – we’re not sure if it’s a problem with the SD card holder that doesn’t establish a proper connection with the SD card. However, we are sure these instructions work, because we’ve tested them.

In this guide we’ve shown you how to use the 1.8 TFT display with the Arduino: display text, draw shapes and display images. You can easily add a nice visual interface to your projects using this display.

An ESP32-S3 Feather board with a built in IPS TFT color display. It"s got all the features of a Feather main board, the comforting warmth of an ESP32-S3 WiFi+BLE microcontroller, and the crispness of a 240x135 pixel color TFT display.

This Feather comes with native USB and 4 MB Flash + 2 MB of PSRAM, so it is perfect for use with CircuitPython or Arduino with low-cost WiFi. Native USB means it can act like a keyboard or a disk drive. WiFi means it"s awesome for IoT projects. And Feather means it works with the large community of Feather Wings for expandability.

The ESP32-S3 is a highly-integrated, low-power, 2.4 GHz Wi-Fi/BLE System-on-Chip (SoC) solution that has built-in native USB as well as some other interesting new technologies like Time of Flight distance measurements and AI acceleration. With its state-of-the-art power and RF performance, this SoC is an ideal choice for a wide variety of application scenarios relating to the Internet of Things (IoT), wearable electronics, and smart homes.

The Feather ESP32-S3 has a dual-core 240 MHz chip, so it is comparable to ESP32"s dual-core. However, there is no Bluetooth Classic support, only Bluetooth LE. This chip is a great step up from the earlier ESP32-S2! This ESP32-S3 mini-module used on the Feather comes with 4 MB flash and 2 MB PSRAM, as well as lots of 512KB of SRAM so it"s perfect for use with CircuitPython support or any time massive buffers are needed: for fast memory access use SRAM, for slower-but-roomier access use PSRAM. It"s also great for use in ESP-IDF or with Arduino support.

The color TFT is connected to the SPI pins and uses additional pins for control that are not exposed to the breakout pads. It"s the same display as you see here, with 240x135 pixels and is IPS so you get bright color at any angle. The backlight is also connected to a separate pin so you can PWM the backlight up and down as desired.

For low power usages, the Feather has a second low-dropout 3.3V regulator. The regulator is controlled with a GPIO pin on the enable line and can shut off power to the Stemma QT port and TFT. There is also a separate power pin for the NeoPixel that can be used to disable it for even lower quiescent power. With everything off and in deep sleep mode, the TFT feather uses about 100uA of current.

ESP32-S3 Dual Core 240MHz Tensilica processor - the next generation of ESP32-Sx, with native USB so it can act like a keyboard/mouse, MIDI device, disk drive, etc!

Low Power friendly! In deep sleep mode, we can get down to 80~100uA of current draw from the Lipoly connection. Quiescent current is from the power regulator, ESP32-S2 chip, and Lipoly monitor. Turn off the NeoPixel and external I2C/TFT power for the lowest quiescent current draw.

The novel coronavirus has caused nearly more than 80 thousand confirmed cases nationwide, and the respirators and respirators are in short supply in recent months. Not only that, but the situation abroad is also not optimistic. The cumulative number of confirmed cases has reached three million and five hundred thousand cases, with a death toll of 240 thousand. As a result, the demand for foreign ventilators is also surging.

So here I decided to make a small project related to the ventilator. It is very convenient to develop with the STONE TFT LCD serial port screen. I use it as the display interface. In addition, I need an external main controller to upload data. Here I chose esp32, which is also a popular chip, and the development is relatively simple.

In this tutorial, you will build a serial port screen project. The screen can interact with MCU, control and generate waveform through esp32, and display it on the screen. This project will be very helpful to collect the patient’s respiratory rate waveform.

Here we will do a ventilator project. After the ventilator is powered on and turned on, there will be a start-up interface, and the word “open ventilator” will be displayed. Clicking on it will have a click effect, accompanied by a voice prompt, indicating that it has been turned on successfully. Finally, it will jump to a function selection interface. In this interface, we can choose the ventilator mode: CMV PCV SIMV PS CPAP PEEP, If the setting is wrong, you can click Reset, and then click OK to return. Next, click the “vendor waveforms” button, there will be the same button effect, and then enter the heart rate waveform display interface. At this time, the STONE TFT LCD screen will send the serial command, triggering the esp32 MCU to start uploading the waveform data.

Because STONE TFT LCD has an audio driver and reserved corresponding interface, it can use the most common magnet speaker, commonly known as a loudspeaker. The loudspeaker is a kind of transducer which transforms the electrical signal into an acoustic signal. The performance of loudspeaker has a great influence on the sound quality. Loudspeakers are the weakest component in audio equipment, and for audio effect, they are the most important component. There are many kinds of loudspeakers, and the prices vary greatly. Audio electric energy through electromagnetic, piezoelectric, or electrostatic effects, so that it’s a paper basin or diaphragm vibration and resonance with the surrounding air (resonance) and produce sound.

Touch screen control / display image / display text / display curve / read and write data / play video and audio. It is suitable for various industries.

STONE STVC101WT-01 module communicates with MCU through a serial port, which needs to be used in this project. We only need to add the designed UI picture through the upper computer through the menu bar options to buttons, text boxes, background pictures, and page logic, then generate the configuration file, and finally download it to the display screen to run.

Esp32is a single-chip scheme integrated with 2.4 GHz Wi-Fi and Bluetooth dual-mode. It adopts TSMC’s ultra-low power consumption 40 nm technology, with ultra-high RF performance, stability, versatility, and reliability, as well as ultra-low power consumption, which meets different power consumption requirements and is suitable for various applications scenarios. At present, the product models of esp32 series include esp32-d0wd-v3, esp32-d0wdq6-v3, esp32-d0wd, esp32-d0wdq6, esp32-d2wd, esp32-s0wd and esp32-u4wdh. Esp32-d0wd-v3, esp32-d0wdq6-v3 and esp32-u4wdh are chip models based on Eco v3.

First of all, the development of the software part requires the installation of IDE. Esp32 supports the development and compilation in the Arduino environment, so we need to install the Arduino development tool first.

After that, a default project will be generated with a blue background default. Select it and right-click, then select remove to remove the background. Then right-click picture file and click Add to add your own picture background, as follows:

Here you need to add a curve control to display the oscillogram. It is mainly used to configure the channel of the data source. Here, select channel 0, the color of the line, the red color, and the interval between the two abscissa points to 25.

Module with WiFi Espressif ESP32-S2. It has 4 MB of Flash memory, 2 MB of external PSRAM memory, integrated WiFi 802.11 b/g/n transceiver and a JST-PH 2.0 connector for connecting a LiPo battery. The board has a TFT LCD display and an RGB LED. FeatherS2 is easy to integrate with sensors due to the available STEMMA QT connector (Qwiic compatible).

In this Arduino touch screen tutorial we will learn how to use TFT LCD Touch Screen with Arduino. You can watch the following video or read the written tutorial below.

The next example is controlling an RGB LED using these three RGB sliders. For example if we start to slide the blue slider, the LED will light up in blue and increase the light as we would go to the maximum value. So the sliders can move from 0 to 255 and with their combination we can set any color to the RGB LED,  but just keep in mind that the LED cannot represent the colors that much accurate.

As an example I am using a 3.2” TFT Touch Screen in a combination with a TFT LCD Arduino Mega Shield. We need a shield because the TFT Touch screen works at 3.3V and the Arduino Mega outputs are 5 V. For the first example I have the HC-SR04 ultrasonic sensor, then for the second example an RGB LED with three resistors and a push button for the game example. Also I had to make a custom made pin header like this, by soldering pin headers and bend on of them so I could insert them in between the Arduino Board and the TFT Shield.

Here’s the circuit schematic. We will use the GND pin, the digital pins from 8 to 13, as well as the pin number 14. As the 5V pins are already used by the TFT Screen I will use the pin number 13 as VCC, by setting it right away high in the setup section of code.

As the code is a bit longer and for better understanding I will post the source code of the program in sections with description for each section. And at the end of this article I will post the complete source code.

I will use the UTFT and URTouch libraries made by Henning Karlsen. Here I would like to say thanks to him for the incredible work he has done. The libraries enable really easy use of the TFT Screens, and they work with many different TFT screens sizes, shields and controllers. You can download these libraries from his website, RinkyDinkElectronics.com and also find a lot of demo examples and detailed documentation of how to use them.

After we include the libraries we need to create UTFT and URTouch objects. The parameters of these objects depends on the model of the TFT Screen and Shield and these details can be also found in the documentation of the libraries.

Next we need to define the fonts that are coming with the libraries and also define some variables needed for the program. In the setup section we need to initiate the screen and the touch, define the pin modes for the connected sensor, the led and the button, and initially call the drawHomeSreen() custom function, which will draw the home screen of the program.

So now I will explain how we can make the home screen of the program. With the setBackColor() function we need to set the background color of the text, black one in our case. Then we need to set the color to white, set the big font and using the print() function, we will print the string “Arduino TFT Tutorial” at the center of the screen and 10 pixels  down the Y – Axis of the screen. Next we will set the color to red and draw the red line below the text. After that we need to set the color back to white, and print the two other strings, “by HowToMechatronics.com” using the small font and “Select Example” using the big font.

Next is the distance sensor button. First we need to set the color and then using the fillRoundRect() function we will draw the rounded rectangle. Then we will set the color back to white and using the drawRoundRect() function we will draw another rounded rectangle on top of the previous one, but this one will be without a fill so the overall appearance of the button looks like it has a frame. On top of the button we will print the text using the big font and the same background color as the fill of the button. The same procedure goes for the two other buttons.

Here’s that function which uses the ultrasonic sensor to calculate the distance and print the values with SevenSegNum font in green color, either in centimeters or inches. If you need more details how the ultrasonic sensor works you can check my particular tutorialfor that. Back in the loop section we can see what happens when we press the select unit buttons as well as the back button.

Ok next is the RGB LED Control example. If we press the second button, the drawLedControl() custom function will be called only once for drawing the graphic of that example and the setLedColor() custom function will be repeatedly called. In this function we use the touch screen to set the values of the 3 sliders from 0 to 255. With the if statements we confine the area of each slider and get the X value of the slider. So the values of the X coordinate of each slider are from 38 to 310 pixels and we need to map these values into values from 0 to 255 which will be used as a PWM signal for lighting up the LED. If you need more details how the RGB LED works you can check my particular tutorialfor that. The rest of the code in this custom function is for drawing the sliders. Back in the loop section we only have the back button which also turns off the LED when pressed.

In order the code to work and compile you will have to include an addition “.c” file in the same directory with the Arduino sketch. This file is for the third game example and it’s a bitmap of the bird. For more details how this part of the code work  you can check my particular tutorial. Here you can download that file:

ER-TFTM050-3 is 800x480 dots 5" color tft lcd module display with RA8875 controller board,superior display quality,super wide viewing angle and easily controlled by MCU such as 8051, PIC, AVR, ARDUINO,and ARM .It can be used in any embedded systems,industrial device,security and hand-held equipment which requires display in high quality and colorful image.

It supports 8080 6800 8-bit,16-bit parallel,3-wire,4-wire,I2C serial spi interface. Built-in MicroSD card slot. It"s optional for 4-wire resistive touch panel (IC RA8875 built-in touch controller),capacitive touch panel with controller,font chip, flash chip and microsd card. We offer two types connection,one is pin header and the another is ZIF connector with flat cable.Mounting on board by default. There is no capacitive touch panel connection on the board of ER-TFTM050-3,its capacitive touch panel needs to be connected with your external board.Now we design another new board with capacitive touch connection named_ER-TFTM050A2-3.

Of course, we wouldn"t just leave you with a datasheet and a "good luck!".Here is the link for5" TFT capacitive touch shield with libraries,examples,schematic diagram for Arduino Due,Mega 2560 and Uno. For 8051 microcontroller user,we prepared the detailed tutorial such as interfacing, demo code and development kit at the bottom of this page.