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+---
+title: "3D Printing"
+date: "2025-06-25"
+excerpt: "My 3D-printing projects: from a robotic arm to a DIY drone – including the ESP32 controller code."
+cover: "/src/assets/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);
+}
+\ No newline at end of file