TurtlePlotBot

The TurtlePlotBot is a MicroPython based 3D printed drawing robot inspired by MakersBox’s Arduino Chassis for Drawing Robot. The TurtlePlotBot can be easily built in a couple of hours and offers a fun environment to learn python programming and robotics.

Say “Hello!” to my little friend!

The software that runs the TurtlePlotBot is modular and includes the turtleplot module. The turtleplot module contains the methods needed to turn turtle graphics commands into simple movements. You can use the turtleplot module run your own robot using different hardware without having to write all the python code for each of the turtle graphics commands.

A TurtlePlotBot is built from 3D Printed Parts (Printing Instructions), a pair of 28BYJ-48 stepper motors and uses a MG90S mini servo to lift and lower the pen used for drawing.

An ESP-32 Based Microcontroller module with a 240x135 TFTLCD display running MicroPython is paired with the ESP32 DrawBot Board to provide the interface circuitry needed to run a pair of stepper motors, a servo, and includes a five way switch for user input. The TurtlePlotBot has Wifi capability allowing it to be controlled and programmed wirelessly from a computer, smartphone or tablet.

A menu system provides an easy way to configure the TurtlePlotBot, connect to or create a Wifi access point as well as running TurtlePlotBot MicroPython programs without the use of a computer or another device.

• Connect to a Wifi Access Point

• Create a Wifi Access Point

• Write a message using a font

Documentation

• TurtlePlotBot
• 1. TurtlePlotBot Chassis
  • 1.1. Hardware Parts List
  • 1.2. 3d Printed Parts
    • 1.2.1. Printing Instructions
  • 1.3. Assembly Instructions
    • 1.3.1. Step 1: Assemble the caster
    • 1.3.2. Step 2: Insert the pen lift dowels
    • 1.3.3. Step 3: Mount the 18650 battery holder
    • 1.3.4. Step 4: Mount the caster
    • 1.3.5. Step 5: Mount the stepper motors
    • 1.3.6. Step 6: Assemble the wheels
    • 1.3.7. Step 7: Install the pen lift servo
    • 1.3.8. Step 8: Mount the wheels
    • 1.3.9. Step 9: Assemble the pen holder
    • 1.3.10. Step 10: Install the pen holder
    • 1.3.11. Congratulations
• 2. TurtlePlotBot Electronics
  • 2.1. ESP32 DrawBot Board
    • 2.1.1. Esp-32 DrawBot Board PC Board Layout
    • 2.1.2. Esp-32 DrawBot Board schematic
  • 2.2. Parts List
  • 2.3. Assembly Instructions
    • 2.3.1. Stepper Motor Connectors
    • 2.3.2. PEN Servo Header
    • 2.3.3. PORT B Header
    • 2.3.4. BATTERY Header
    • 2.3.5. MH-CD42 Module Header
    • 2.3.6. CHG Header
    • 2.3.7. USB Charge Connector
    • 2.3.8. SW1 Five-Way Switch
    • 2.3.9. MOT5V header
    • 2.3.10. RUN/HOLD/OFF Switch
    • 2.3.11. TTGO Module headers
    • 2.3.12. Congratulations
• 3. Final Assembly Instructions
  • 3.1. Power Requirements
    • 3.1.1. 18650 Battery
    • 3.1.2. LiPo Cell
    • 3.1.3. AA Batteries
    • 3.1.4. Mount the DrawBot board
    • 3.1.5. Connect the Stepper Motors
    • 3.1.6. Connect the Pen Lift Servo
    • 3.1.7. Dress the wires
    • 3.1.8. Charger/Boost module
    • 3.1.9. Charger/Boost module Pinout
    • 3.1.10. Install the Charger/Boost module
    • 3.1.11. Congratulations
• 4. TurtlePlotBot Programming
  • 4.1. Software Installation
    • 4.1.1. Deploying MicroPython
    • 4.1.2. Erase the Esp32 Flash
    • 4.1.3. Flash MicroPython
    • 4.1.4. Flash FAT image
    • 4.1.5. Congratulations
    • 4.1.6. MicroPython program to show free drive space
  • 4.2. turtleplotbot module
    • 4.2.1. Hardware
    • 4.2.2. Interface functions
    • 4.2.3. turtleplotbot implementation
  • 4.3. button Module
    • 4.3.1. Button class
    • 4.3.2. JoyStick class
  • 4.4. tftui User Inteface module
    • 4.4.1. Menu example program
    • 4.4.2. Form example program
    • 4.4.3. LCD Graphics Example
      • 4.4.3.1. message.py program
    • 4.4.4. Five way switch schematic
    • 4.4.5. tftui.UI class reference
  • 4.5. menu module
    • 4.5.1. Main Menu
    • 4.5.2. Connect to AP
    • 4.5.3. Disconnect AP
    • 4.5.4. Enable AP
    • 4.5.5. Disable AP
    • 4.5.6. Run Program
    • 4.5.7. Quit
  • 4.6. Example Programs
    • 4.6.1. Draw a draw box
      • 4.6.1.1. Simple Version
      • 4.6.1.2. Better way to draw a box
      • 4.6.1.3. Even better way to draw a box
    • 4.6.2. Draw a Star
      • 4.6.2.1. Simple program
      • 4.6.2.2. Using the tftui module
    • 4.6.3. Draw a polygon
    • 4.6.4. Approximate a circle or ellipse
    • 4.6.5. Write a Message
• 5. turtleplot module reference
  • 5.1. Interface functions
    • 5.1.1. __init__
    • 5.1.2. _turn(angle)
    • 5.1.3. _move(distance)
    • 5.1.4. _pen(down)
  • 5.2. Class Methods Reference
• 6. Fonts
  • 6.1. Bitmap Fonts
    • 6.1.1. Font file format
    • 6.1.2. Bitmap Font Tables
      • 6.1.2.1. vga1_8x8
      • 6.1.2.2. vga2_8x8
      • 6.1.2.3. vga1_8x16
      • 6.1.2.4. vga2_8x16
      • 6.1.2.5. vga1_16x16
      • 6.1.2.6. vga2_16x16
      • 6.1.2.7. vga1_bold_16x16
      • 6.1.2.8. vga2_bold_16x16
      • 6.1.2.9. vga1_16x32
      • 6.1.2.10. vga2_16x32
      • 6.1.2.11. vga1_bold_16x32
      • 6.1.2.12. vga2_bold_16x32
  • 6.2. Vector Fonts
    • 6.2.1. Introduction
    • 6.2.2. Font file format
    • 6.2.3. LCD Font Demo
    • 6.2.4. Vector Font Tables
      • 6.2.4.1. astrol.fnt
      • 6.2.4.2. cyrilc.fnt
      • 6.2.4.3. gotheng.fnt
      • 6.2.4.4. gothger.fnt
      • 6.2.4.5. gothita.fnt
      • 6.2.4.6. greekc.fnt
      • 6.2.4.7. greekcs.fnt
      • 6.2.4.8. greekp.fnt
      • 6.2.4.9. greeks.fnt
      • 6.2.4.10. italicc.fnt
      • 6.2.4.11. italiccs.fnt
      • 6.2.4.12. italict.fnt
      • 6.2.4.13. japan.fnt
      • 6.2.4.14. lowmat.fnt
      • 6.2.4.15. marker.fnt
      • 6.2.4.16. meteo.fnt
      • 6.2.4.17. misc.fnt
      • 6.2.4.18. music.fnt
      • 6.2.4.19. romanc.fnt
      • 6.2.4.20. romancs.fnt
      • 6.2.4.21. romand.fnt
      • 6.2.4.22. romanp.fnt
      • 6.2.4.23. romans.fnt
      • 6.2.4.24. romant.fnt
      • 6.2.4.25. scriptc.fnt
      • 6.2.4.26. scripts.fnt
      • 6.2.4.27. symbol.fnt
      • 6.2.4.28. uppmat.fnt