Structure of a PlatformIO project (like this repo)

• .vscode/ contains settings read by your VSCode to be compatible with the PlatformIO project
• include/ contains the header files
• lib/contains private libraries (not used for this project)
• src/ contains main.cpp
• test/ contains PlatformIO project tests (not used for this project)
• platformio.ini is a setting file for PlatformIO building

Cables labeling

Pin ordering for pincher's PCB

For any servo_i:

• Brown goes to left (stands for ground)
• Orange goes to center (stands for signal)
• Red goes right (stands for voltage input)

If you want to use the force sensor: plug into FF1

Pin ordering for UART communication between to ESP32

By default the Green wire of the ethernet cable goes to GND on the two ESP32 (chose the one between ports 19 and 22 for convinience). For communication on a first ESP32, assign White and Orange wires to 16 and 17. For reception on a second ESP32, flip those two last wires.

• Brown goes to left (stands for ground)
• Orange goes to center (stands for signal)
• Red goes right (stands for voltage input)

If you want to use the force sensor: plug into FF1

To have both ESP32 communicating

The sender is pluged on power outlet and flashed by pushing the ENG button (this program is flashed, it will remain permanent after upload) The reciever is pluged to the computer on microUSB. Monitoring will be assigned on this platform.