HAAC Plotter — Work Page
Hisar Fab Academy — Machine Week
Overview
- Firmware (Pico / MicroPython): 2-axis step/dir + pen servo
- Command protocol: line-based (
PENUP, MOVE X.. Y.., SPEED ..)
- Browser control: send commands from a web page
- Backend API (optional): REST endpoints that forward commands over serial
Hardware
- MCU: Raspberry Pi Pico (RP2040)
- Stepper: 2x TMC2208 (STEP/DIR)
- Servo: GP27 (pen up/down)
- Pins:
- Motor A:
GP8 (DIR), GP9 (STEP)
- Motor B:
GP12 (DIR), GP13 (STEP)
- Servo:
GP27
Firmware
File: main.py (MicroPython, RP2040)
- CoreXY / H‑Bot support:
COREXY, SWAP_XY, MOTOR_A_SIGN, MOTOR_B_SIGN
- Servo mode:
SERVO_MODE="CR" or SERVO_MODE="ANGLE"
- Line-based command parser over serial stdin
Backend API (optional)
- Route:
/api/plotter
- Source:
backend/src/routes/plotter.ts, backend/src/services/plotterSerial.ts
- Details: API page