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----
-title: "3D Printing"
-date: "2025-06-25"
-excerpt: "My 3D-printing projects: from a robotic arm to a DIY drone."
-cover: "/images/a1.webp"
----
-
-# Projects
-
-## Robotic Arm
-
-3D model on [MakerWorld](https://makerworld.com/en/models/528885-robotic-arm#profileId-445995) – modified to work with my servo motors.
-
-```cpp
-#include <Bluepad32.h>
-#include <ESP32Servo.h>
-
-#define DEADZONE 30
-#define BASE_PIN 15
-#define SHOULDER_PIN 2
-#define ELBOW_PIN 4
-#define WRIST_PIN 16
-#define HAND_PIN 17
-
-Servo base, shoulder, elbow, wrist, hand;
-ControllerPtr pad;
-
-void onConnectedGamepad(ControllerPtr ctl) {
-  Serial.printf("Gamepad #%d connected\n", ctl->index());
-  pad = ctl;
-}
-
-void onDisconnectedGamepad(ControllerPtr ctl) {
-  Serial.printf("Gamepad disconnected\n");
-}
-
-int16_t mapAxis(int16_t v) {
-  if (abs(v) < DEADZONE) v = 0;
-  return map(v, -512, 512, 0, 180);
-}
-
-void setup() {
-  BP32.setup(&onConnectedGamepad, &onDisconnectedGamepad);
-  BP32.enableNewBluetoothConnections(true);
-
-  base.attach(BASE_PIN);
-  shoulder.attach(SHOULDER_PIN);
-  elbow.attach(ELBOW_PIN);
-  wrist.attach(WRIST_PIN);
-  hand.attach(HAND_PIN);
-}
-
-void loop() {
-  BP32.update();
-  if (pad && pad->isConnected()) {
-    base.write(mapAxis(pad->axisX()));
-    shoulder.write(mapAxis(-pad->axisY()));
-    elbow.write(mapAxis(-pad->axisRY()));
-    hand.write(mapAxis(pad->throttle() - pad->brake()));
-
-    if (pad->l1())       wrist.write(0);
-    else if (pad->r1())  wrist.write(180);
-    else                 wrist.write(90);
-  }
-  delay(15);
-}