Myrus#

this is my team's project for scrapyard columbus we are making a gymbal that is controlled by a phone app that tracks faces; comunication is done over iroh webserial and the gymbal is controlled by the hackclub blot control board jerry rigged to an orpheus pico. you can see a demo of the app at https://www.youtube.com/watch?v=buTqpQQnUd0

pins#

firmware#

The firmware is written in circuitpython and is in the firmware directory. The firmware sends complete rotations based on serial input in two formats:

• [1 or 2] [number] -> rotate to a position in complete rotations
• [1 or 2] zero -> set current position as zero

The control is absolute - you specify the rotation count you want to go to rather than relative movement.

Important notes:

• Using 200 steps/rotation * 16 microsteps (very precise control)
• Motors must be enabled by setting enable pin LOW
• Movement speed controlled by delay between steps (currently 0.0001s)
• Supports two motors controlled independently
• Coordinates maintained in number of steps from zero
• Direction controlled automatically based on target vs current position
• Movement is blocking - the pico will not respond to serial commands while moving

web interface#

The web interface is a pwa that is served from cloudflare pages. It uses the web serial api to communicate with the pico. The web interface is hosted at myrus.dunkirk.sh.

cad#

The cad was done in onshape around midnight of the 15th and can be found and exported from here: cad.onshape.com/documents/8d200c472...

schematics / blueprints#

© 2025-present Kieran Klukas, Payton Curry, and Elizabeth Klukas