Scorbot ER-4u controller: install firmware

Puts the controller firmware on the ESP32 DevKit over USB, straight from this page.

  1. Check your browser

  2. Pick your motor drivers

    All six driver boards on the controller must be the same kind. This sets how the firmware reads motor current. You can re-install later to change it.

  3. Get the controller ready

    The port doesn't show up?
    1. Try another cable and another USB port.
    2. Install the USB driver for the chip next to the DevKit's USB socket: CP2102 (Silicon Labs CP210x driver) or CH340/CH9102 (WCH driver). macOS and Linux usually need none.
    3. On Linux, add yourself to the dialout group (sudo usermod -aG dialout $USER), then log out and back in.

  4. Install

    Click Connect, pick the serial port (often named CP2102, USB Serial or usbserial), then choose Install in the window that opens.

    Erase or not? On a first install, say yes to erasing. For an update, say no: erasing also deletes your Wi-Fi settings and the arm's calibration.
    This browser can't talk to serial ports. Use Chrome or Edge on a desktop computer. Open this page from http://localhost (run python3 flasher/serve.py), not as a file.
    It says "Failed to connect" or hangs at "Connecting…"
    1. Click Connect again, and this time hold the BOOT button on the DevKit (next to the USB socket) until the progress bar starts moving, then let go.
    2. Still stuck: unplug the USB cable, hold BOOT, plug it back in, release BOOT, then Connect.
    3. Install takes about a minute. Don't unplug until it says it's done.

    Afterwards, Logs & Console in the same window shows what the controller prints while it starts.

  5. Connect to the controller

    1. The controller restarts. With no Wi-Fi settings yet, it starts its own network Scorbot-XXXX, password scorbot1. Join it from your computer or phone.
    2. A setup page should pop up. If not, open http://192.168.4.1.
    3. Under Settings → WiFi, enter your own network. After that the controller is at http://scorbot.local on your network (or at the IP your router gives it).

  6. First run with the arm

    Turn motor power back on (release the E-stop), then in the controller's web page:

    1. Test → Self-test. Fix any motor marked "disagree" with Flip.
    2. Check each home switch with the switch lamps.
    3. Calibrate → Measure travel for each joint, then Apply.
    4. Home all.