![]() This means the system can be installed in a matter of minutes. All the data transmission is wireless using the WIFI capability of the ESP8266 ESP-12F NodeMcu Mini D1 boards. The cables in the picture were connected to a 12 V bench power supply for easier analysis but are in fact not needed. The entire system has been designed in a way that every station as well as the gondola can work self-sufficient on a single battery with no cables that need to be installed. On the mechanical side, all the necessary parts have been designed in Fusion360 and 3D printed on a Prusa MK3s 3D printer from PETG. send their position to the server which sends commands to motors. The microcontrollers use websockets to communicate bidirectionally with the webserver. On the software side, we used a node.js webserver that communicates with a frontend which has been developed using Vue.js. It hangs on two strings from the stations. The gondola consists of a power bank, a servo motor, a servo control board, a gyroscope sensor, an ESP8266 microcontroller and a permanent marker. On the hardware side, both stations consist each of a geared down DC motor with an encoder (with high precision at 1800 steps per rotation), an H-bridge that allows us to run the DC motor in both directions at different speeds, a 12 V to 5 V converter and an ESP8266 microcontroller. Here a close up shot of the single dots that get painted by the bot: Technical information
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