Added some more documentation.

- erfolgreich getestet mit 95A TPU

.gitea/workflows/deploy-ftp.yml

@@ -0,0 +1,72 @@
+name: Deploy firmware via FTP (master)
+
+on:
+    push:
+        branches:
+            - master
+
+concurrency:
+    group: deploy-master
+    cancel-in-progress: true
+
+jobs:
+    deploy:
+        name: Build and FTP Sync
+        runs-on: ubuntu-latest
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v4
+
+            - name: Setup Python
+              uses: actions/setup-python@v5
+              with:
+                  python-version: '3.x'
+
+            - name: Install PlatformIO
+              run: |
+                  python -m pip install --upgrade pip
+                  python -m pip install platformio
+
+            - name: Build firmware bundle
+              run: pio run -e uno_linux
+
+            - name: Install lftp client
+              run: |
+                  if command -v lftp >/dev/null 2>&1; then
+                      echo 'lftp is already available on this runner image'
+                      exit 0
+                  fi
+
+                  if command -v sudo >/dev/null 2>&1; then
+                      sudo apt-get update
+                      sudo apt-get install -y lftp
+                      exit 0
+                  fi
+
+                  apt-get update
+                  apt-get install -y lftp
+
+            - name: Upload firmware bundle via lftp
+              env:
+                  FTP_SERVER: ${{ secrets.FTP_SERVER }}
+                  FTP_USERNAME: ${{ secrets.FTP_USERNAME }}
+                  FTP_PASSWORD: ${{ secrets.FTP_PASSWORD }}
+                  FTP_SERVER_DIR: ${{ secrets.FTP_SERVER_DIR }}
+              run: |
+                  lftp <<EOF
+                  set cmd:fail-exit true
+                  set net:timeout 120
+                  set net:max-retries 2
+                  set net:reconnect-interval-base 5
+                  set ftp:passive-mode true
+                  set ftp:prefer-epsv false
+                  set ftp:ssl-force true
+                  set ftp:ssl-protect-data true
+                  set ftp:ssl-auth TLS
+                  set ssl:verify-certificate no
+                  open -u "$FTP_USERNAME","$FTP_PASSWORD" -p 21 "$FTP_SERVER"
+                  mirror -R --verbose --delete \
+                    --exclude-glob .DS_Store \
+                    firmware/ "$FTP_SERVER_DIR"
+                  quit
+                  EOF

.gitignore

@@ -15,6 +15,8 @@ local.properties
 .classpath
 .settings/
 .loadpath
+.vscode
+.pio 
 
 # External tool builders
 .externalToolBuilders/
@@ -213,3 +215,5 @@ pip-log.txt
 
 #Mr Developer
 .mr.developer.cfg
+src/credentials.h
+platformio_override.ini

AGENTS.md

@@ -0,0 +1,63 @@
+# AGENTS.md
+
+## Purpose
+This repository contains EggDuino firmware (EggBot protocol emulation) for an ESP32 build target using PlatformIO.
+Use this file as the working contract for code agents in this repo.
+
+## Repository Map
+- `src/main.cpp`: firmware entrypoint (`setup`/`loop`), serial command processing, optional button/test toggles.
+- `src/Functions.cpp`: EggBot command handlers (`SM`, `SP`, `EM`, `SC`, `QP`, etc.) and command registration.
+- `src/Helper_Functions.cpp`: hardware init, motor/servo control, move preparation, ACK/error responses.
+- `src/Config_Web.cpp`: optional Wi-Fi web UI and JSON config persistence via SPIFFS.
+- `src/Logging.cpp`: ring-buffer log collection and `/api/logs` JSON serialization.
+- `include/EggDuino.h`: global declarations, pin/microstep constants, cross-file API.
+- `lib/SerialCommand/src/*`: local serial command parser implementation.
+- `platformio.ini`: single build environment (`[env:uno]`) that actually targets `esp32dev`.
+
+## Build, Flash, Monitor
+- Build: `~/.platformio/penv/bin/pio run -e uno`
+- Upload: `~/.platformio/penv/bin/pio run -e uno -t upload`
+- Serial monitor: `~/.platformio/penv/bin/pio device monitor -b 115200`
+
+Notes:
+- `platformio.ini` currently pins `upload_port = /dev/tty.usbserial-110`; treat this as machine-local and change only when required.
+- There are no unit tests in this repository; a successful PlatformIO build is the minimum validation.
+
+## Local Config And Secrets
+- Wi-Fi config is provided by `src/credentials.h`.
+- Keep `src/credentials.h` local-only; `.gitignore` already excludes it.
+- For default behavior (no Wi-Fi web server), keep:
+  - `const char *kWifiSsid = 0;`
+  - `const char *kWifiPassword = 0;`
+
+## Agent Rules For Code Changes
+1. Preserve EggBot serial protocol behavior.
+   - Commands are wired in `makeComInterface()`.
+   - ACK/error responses are protocol-significant (`"OK\\r\\n"` and `"unknown CMD\\r\\n"`).
+2. Keep movement math semantics intact.
+   - `prepareMove()` handles microstep correction and step error accumulation (`g_iRotStepError`, `g_iPenStepError`).
+   - Do not replace this with naive float-heavy logic unless explicitly requested.
+3. Respect real-time loop constraints.
+   - `loop()` must remain non-blocking except for protocol-required waits.
+   - Avoid adding expensive dynamic allocation in high-frequency paths.
+4. Keep hardware mapping centralized.
+   - Pin and microstep constants belong in `include/EggDuino.h`.
+   - If changing pinouts, update only there and keep ESP32/non-ESP32 guards coherent.
+5. Do not hand-edit generated IDE metadata.
+   - `.vscode/c_cpp_properties.json` and `.vscode/launch.json` are generated by PlatformIO.
+   - Prefer edits in `platformio.ini` instead.
+6. Keep edits minimal and targeted.
+   - Match existing style (global `g_*` variables, Arduino types, simple free functions).
+   - Avoid broad refactors unless explicitly requested.
+
+## When Adding Config Parameters To Web UI
+`Config_Web.cpp` currently has an empty `configParameters[]` array. To add persisted parameters:
+1. Add the backing global variable (typically in existing global state).
+2. Add a `ConfigParameter` entry to `configParameters[]` with key, pointer, description, default.
+3. Ensure defaults are safe in `applyDefaults()` flow.
+4. Rebuild and verify `GET/POST /api/config` still round-trips.
+
+## Definition Of Done For Agents
+Before finishing, run:
+1. `~/.platformio/penv/bin/pio run -e uno`
+2. Summarize changed files and any behavior-impacting protocol/hardware implications.

AccelStepper.cpp

@@ -1,633 +0,0 @@
-// AccelStepper.cpp
-//
-// Copyright (C) 2009-2013 Mike McCauley
-// $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $
-
-#include "AccelStepper.h"
-
-#if 0
-// Some debugging assistance
-void dump(uint8_t* p, int l)
-{
-    int i;
-
-    for (i = 0; i < l; i++)
-    {
-	Serial.print(p[i], HEX);
-	Serial.print(" ");
-    }
-    Serial.println("");
-}
-#endif
-
-void AccelStepper::moveTo(long absolute)
-{
-    if (_targetPos != absolute)
-    {
-	_targetPos = absolute;
-	computeNewSpeed();
-	// compute new n?
-    }
-}
-
-void AccelStepper::move(long relative)
-{
-    moveTo(_currentPos + relative);
-}
-
-// Implements steps according to the current step interval
-// You must call this at least once per step
-// returns true if a step occurred
-boolean AccelStepper::runSpeed()
-{
-    // Dont do anything unless we actually have a step interval
-    if (!_stepInterval)
-	return false;
-
-    unsigned long time = micros();
-    unsigned long nextStepTime = _lastStepTime + _stepInterval;
-    // Gymnastics to detect wrapping of either the nextStepTime and/or the current time
-    if (   ((nextStepTime >= _lastStepTime) && ((time >= nextStepTime) || (time < _lastStepTime)))
-	|| ((nextStepTime < _lastStepTime) && ((time >= nextStepTime) && (time < _lastStepTime))))
-    {
-	if (_direction == DIRECTION_CW)
-	{
-	    // Clockwise
-	    _currentPos += 1;
-	}
-	else
-	{
-	    // Anticlockwise  
-	    _currentPos -= 1;
-	}
-	step(_currentPos);
-
-	_lastStepTime = time;
-	return true;
-    }
-    else
-    {
-	return false;
-    }
-}
-
-long AccelStepper::distanceToGo()
-{
-    return _targetPos - _currentPos;
-}
-
-long AccelStepper::targetPosition()
-{
-    return _targetPos;
-}
-
-long AccelStepper::currentPosition()
-{
-    return _currentPos;
-}
-
-// Useful during initialisations or after initial positioning
-// Sets speed to 0
-void AccelStepper::setCurrentPosition(long position)
-{
-    _targetPos = _currentPos = position;
-    _n = 0;
-    _stepInterval = 0;
-}
-
-void AccelStepper::computeNewSpeed()
-{
-    long distanceTo = distanceToGo(); // +ve is clockwise from curent location
-
-    long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
-
-    if (distanceTo == 0 && stepsToStop <= 1)
-    {
-	// We are at the target and its time to stop
-	_stepInterval = 0;
-	_speed = 0.0;
-	_n = 0;
-	return;
-    }
-
-    if (distanceTo > 0)
-    {
-	// We are anticlockwise from the target
-	// Need to go clockwise from here, maybe decelerate now
-	if (_n > 0)
-	{
-	    // Currently accelerating, need to decel now? Or maybe going the wrong way?
-	    if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW)
-		_n = -stepsToStop; // Start deceleration
-	}
-	else if (_n < 0)
-	{
-	    // Currently decelerating, need to accel again?
-	    if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW)
-		_n = -_n; // Start accceleration
-	}
-    }
-    else if (distanceTo < 0)
-    {
-	// We are clockwise from the target
-	// Need to go anticlockwise from here, maybe decelerate
-	if (_n > 0)
-	{
-	    // Currently accelerating, need to decel now? Or maybe going the wrong way?
-	    if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW)
-		_n = -stepsToStop; // Start deceleration
-	}
-	else if (_n < 0)
-	{
-	    // Currently decelerating, need to accel again?
-	    if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW)
-		_n = -_n; // Start accceleration
-	}
-    }
-
-    // Need to accelerate or decelerate
-    if (_n == 0)
-    {
-	// First step from stopped
-	_cn = _c0;
-	_direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW;
-    }
-    else
-    {
-	// Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
-	_cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
-	_cn = max(_cn, _cmin); 
-    }
-    _n++;
-    _stepInterval = _cn;
-    _speed = 1000000.0 / _cn;
-    if (_direction == DIRECTION_CCW)
-	_speed = -_speed;
-
-#if 0
-    Serial.println(_speed);
-    Serial.println(_acceleration);
-    Serial.println(_cn);
-    Serial.println(_c0);
-    Serial.println(_n);
-    Serial.println(_stepInterval);
-    Serial.println(distanceTo);
-    Serial.println(stepsToStop);
-    Serial.println("-----");
-#endif
-}
-
-// Run the motor to implement speed and acceleration in order to proceed to the target position
-// You must call this at least once per step, preferably in your main loop
-// If the motor is in the desired position, the cost is very small
-// returns true if the motor is still running to the target position.
-boolean AccelStepper::run()
-{
-    if (runSpeed())
-	computeNewSpeed();
-    return _speed != 0.0 || distanceToGo() != 0;
-}
-
-AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
-{
-    _interface = interface;
-    _currentPos = 0;
-    _targetPos = 0;
-    _speed = 0.0;
-    _maxSpeed = 1.0;
-    _acceleration = 0.0;
-    _sqrt_twoa = 1.0;
-    _stepInterval = 0;
-    _minPulseWidth = 1;
-    _enablePin = 0xff;
-    _lastStepTime = 0;
-    _pin[0] = pin1;
-    _pin[1] = pin2;
-    _pin[2] = pin3;
-    _pin[3] = pin4;
-
-    // NEW
-    _n = 0;
-    _c0 = 0.0;
-    _cn = 0.0;
-    _cmin = 1.0;
-    _direction = DIRECTION_CCW;
-
-    int i;
-    for (i = 0; i < 4; i++)
-	_pinInverted[i] = 0;
-    if (enable)
-	enableOutputs();
-    // Some reasonable default
-    setAcceleration(1);
-}
-
-AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
-{
-    _interface = 0;
-    _currentPos = 0;
-    _targetPos = 0;
-    _speed = 0.0;
-    _maxSpeed = 1.0;
-    _acceleration = 0.0;
-    _sqrt_twoa = 1.0;
-    _stepInterval = 0;
-    _minPulseWidth = 1;
-    _enablePin = 0xff;
-    _lastStepTime = 0;
-    _pin[0] = 0;
-    _pin[1] = 0;
-    _pin[2] = 0;
-    _pin[3] = 0;
-    _forward = forward;
-    _backward = backward;
-
-    // NEW
-    _n = 0;
-    _c0 = 0.0;
-    _cn = 0.0;
-    _cmin = 1.0;
-    _direction = DIRECTION_CCW;
-
-    int i;
-    for (i = 0; i < 4; i++)
-	_pinInverted[i] = 0;
-    // Some reasonable default
-    setAcceleration(1);
-}
-
-void AccelStepper::setMaxSpeed(float speed)
-{
-    if (_maxSpeed != speed)
-    {
-	_maxSpeed = speed;
-	_cmin = 1000000.0 / speed;
-	// Recompute _n from current speed and adjust speed if accelerating or cruising
-	if (_n > 0)
-	{
-	    _n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
-	    computeNewSpeed();
-	}
-    }
-}
-
-void AccelStepper::setAcceleration(float acceleration)
-{
-    if (acceleration == 0.0)
-	return;
-    if (_acceleration != acceleration)
-    {
-	// Recompute _n per Equation 17
-	_n = _n * (_acceleration / acceleration);
-	// New c0 per Equation 7, with correction per Equation 15
-	_c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
-	_acceleration = acceleration;
-	computeNewSpeed();
-    }
-}
-
-void AccelStepper::setSpeed(float speed)
-{
-    if (speed == _speed)
-        return;
-    speed = constrain(speed, -_maxSpeed, _maxSpeed);
-    if (speed == 0.0)
-	_stepInterval = 0;
-    else
-    {
-	_stepInterval = fabs(1000000.0 / speed);
-	_direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
-    }
-    _speed = speed;
-}
-
-float AccelStepper::speed()
-{
-    return _speed;
-}
-
-// Subclasses can override
-void AccelStepper::step(long step)
-{
-    switch (_interface)
-    {
-        case FUNCTION:
-            step0(step);
-            break;
-
-	case DRIVER:
-	    step1(step);
-	    break;
-    
-	case FULL2WIRE:
-	    step2(step);
-	    break;
-    
-	case FULL3WIRE:
-	    step3(step);
-	    break;  
-
-	case FULL4WIRE:
-	    step4(step);
-	    break;  
-
-	case HALF3WIRE:
-	    step6(step);
-	    break;  
-		
-	case HALF4WIRE:
-	    step8(step);
-	    break;  
-    }
-}
-
-// You might want to override this to implement eg serial output
-// bit 0 of the mask corresponds to _pin[0]
-// bit 1 of the mask corresponds to _pin[1]
-// ....
-void AccelStepper::setOutputPins(uint8_t mask)
-{
-    uint8_t numpins = 2;
-    if (_interface == FULL4WIRE || _interface == HALF4WIRE)
-	numpins = 4;
-    else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
-	numpins = 3;
-    uint8_t i;
-    for (i = 0; i < numpins; i++)
-	digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
-}
-
-// 0 pin step function (ie for functional usage)
-void AccelStepper::step0(long step)
-{
-  if (_speed > 0)
-    _forward();
-  else
-    _backward();
-}
-
-// 1 pin step function (ie for stepper drivers)
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step1(long step)
-{
-    // _pin[0] is step, _pin[1] is direction
-    setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses
-    setOutputPins(_direction ? 0b11 : 0b01); // step HIGH
-    // Caution 200ns setup time 
-    // Delay the minimum allowed pulse width
-    delayMicroseconds(_minPulseWidth);
-    setOutputPins(_direction ? 0b10 : 0b00); // step LOW
-
-}
-
-
-// 2 pin step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step2(long step)
-{
-    switch (step & 0x3)
-    {
-	case 0: /* 01 */
-	    setOutputPins(0b10);
-	    break;
-
-	case 1: /* 11 */
-	    setOutputPins(0b11);
-	    break;
-
-	case 2: /* 10 */
-	    setOutputPins(0b01);
-	    break;
-
-	case 3: /* 00 */
-	    setOutputPins(0b00);
-	    break;
-    }
-}
-// 3 pin step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step3(long step)
-{
-    switch (step % 3)
-    {
-	case 0:    // 100
-	    setOutputPins(0b100);
-	    break;
-
-	case 1:    // 001
-	    setOutputPins(0b001);
-	    break;
-
-	case 2:    //010
-	    setOutputPins(0b010);
-	    break;
-	    
-    }
-}
-
-// 4 pin step function for half stepper
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step4(long step)
-{
-    switch (step & 0x3)
-    {
-	case 0:    // 1010
-	    setOutputPins(0b0101);
-	    break;
-
-	case 1:    // 0110
-	    setOutputPins(0b0110);
-	    break;
-
-	case 2:    //0101
-	    setOutputPins(0b1010);
-	    break;
-
-	case 3:    //1001
-	    setOutputPins(0b1001);
-	    break;
-    }
-}
-
-// 3 pin half step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step6(long step)
-{
-    switch (step % 6)
-    {
-	case 0:    // 100
-	    setOutputPins(0b100);
-            break;
-	    
-        case 1:    // 101
-	    setOutputPins(0b101);
-            break;
-	    
-	case 2:    // 001
-	    setOutputPins(0b001);
-            break;
-	    
-        case 3:    // 011
-	    setOutputPins(0b011);
-            break;
-	    
-	case 4:    // 010
-	    setOutputPins(0b010);
-            break;
-	    
-	case 5:    // 011
-	    setOutputPins(0b110);
-            break;
-	    
-    }
-}
-
-// 4 pin half step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step8(long step)
-{
-    switch (step & 0x7)
-    {
-	case 0:    // 1000
-	    setOutputPins(0b0001);
-            break;
-	    
-        case 1:    // 1010
-	    setOutputPins(0b0101);
-            break;
-	    
-	case 2:    // 0010
-	    setOutputPins(0b0100);
-            break;
-	    
-        case 3:    // 0110
-	    setOutputPins(0b0110);
-            break;
-	    
-	case 4:    // 0100
-	    setOutputPins(0b0010);
-            break;
-	    
-        case 5:    //0101
-	    setOutputPins(0b1010);
-            break;
-	    
-	case 6:    // 0001
-	    setOutputPins(0b1000);
-            break;
-	    
-        case 7:    //1001
-	    setOutputPins(0b1001);
-            break;
-    }
-}
-    
-// Prevents power consumption on the outputs
-void    AccelStepper::disableOutputs()
-{   
-    if (! _interface) return;
-
-    setOutputPins(0); // Handles inversion automatically
-    if (_enablePin != 0xff)
-        digitalWrite(_enablePin, LOW ^ _enableInverted);
-}
-
-void    AccelStepper::enableOutputs()
-{
-    if (! _interface) 
-	return;
-
-    pinMode(_pin[0], OUTPUT);
-    pinMode(_pin[1], OUTPUT);
-    if (_interface == FULL4WIRE || _interface == HALF4WIRE)
-    {
-        pinMode(_pin[2], OUTPUT);
-        pinMode(_pin[3], OUTPUT);
-    }
-    else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
-    {
-        pinMode(_pin[2], OUTPUT);
-    }
-
-    if (_enablePin != 0xff)
-    {
-        pinMode(_enablePin, OUTPUT);
-        digitalWrite(_enablePin, HIGH ^ _enableInverted);
-    }
-}
-
-void AccelStepper::setMinPulseWidth(unsigned int minWidth)
-{
-    _minPulseWidth = minWidth;
-}
-
-void AccelStepper::setEnablePin(uint8_t enablePin)
-{
-    _enablePin = enablePin;
-
-    // This happens after construction, so init pin now.
-    if (_enablePin != 0xff)
-    {
-        pinMode(_enablePin, OUTPUT);
-        digitalWrite(_enablePin, HIGH ^ _enableInverted);
-    }
-}
-
-void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert)
-{
-    _pinInverted[0] = stepInvert;
-    _pinInverted[1] = directionInvert;
-    _enableInverted = enableInvert;
-}
-
-void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
-{    
-    _pinInverted[0] = pin1Invert;
-    _pinInverted[1] = pin2Invert;
-    _pinInverted[2] = pin3Invert;
-    _pinInverted[3] = pin4Invert;
-    _enableInverted = enableInvert;
-}
-
-// Blocks until the target position is reached and stopped
-void AccelStepper::runToPosition()
-{
-    while (run())
-	;
-}
-
-boolean AccelStepper::runSpeedToPosition()
-{
-    if (_targetPos == _currentPos)
-	return false;
-    if (_targetPos >_currentPos)
-	_direction = DIRECTION_CW;
-    else
-	_direction = DIRECTION_CCW;
-    return runSpeed();
-}
-
-// Blocks until the new target position is reached
-void AccelStepper::runToNewPosition(long position)
-{
-    moveTo(position);
-    runToPosition();
-}
-
-void AccelStepper::stop()
-{
-    if (_speed != 0.0)
-    {    
-	long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
-	if (_speed > 0)
-	    move(stepsToStop);
-	else
-	    move(-stepsToStop);
-    }
-}

AccelStepper.h

@@ -1,666 +0,0 @@
-// AccelStepper.h
-//
-/// \mainpage AccelStepper library for Arduino
-///
-/// This is the Arduino AccelStepper library.
-/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors.
-///
-/// The standard Arduino IDE includes the Stepper library
-/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is
-/// perfectly adequate for simple, single motor applications.
-///
-/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
-/// \li Supports acceleration and deceleration
-/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
-/// \li API functions never delay() or block
-/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
-/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
-/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
-/// \li Very slow speeds are supported
-/// \li Extensive API
-/// \li Subclass support
-///
-/// The latest version of this documentation can be downloaded from 
-/// http://www.airspayce.com/mikem/arduino/AccelStepper
-/// The version of the package that this documentation refers to can be downloaded 
-/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip
-///
-/// Example Arduino programs are included to show the main modes of use.
-///
-/// You can also find online help and discussion at http://groups.google.com/group/accelstepper
-/// Please use that group for all questions and discussions on this topic. 
-/// Do not contact the author directly, unless it is to discuss commercial licensing.
-/// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
-///
-/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 
-/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
-/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
-/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with 
-/// teensyduino addon 1.18 and later.
-///
-/// \par Installation
-///
-/// Install in the usual way: unzip the distribution zip file to the libraries
-/// sub-folder of your sketchbook. 
-///
-/// \par Theory
-///
-/// This code uses speed calculations as described in 
-/// "Generate stepper-motor speed profiles in real time" by David Austin 
-/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
-/// with the exception that AccelStepper uses steps per second rather than radians per second
-/// (because we dont know the step angle of the motor)
-/// An initial step interval is calculated for the first step, based on the desired acceleration
-/// On subsequent steps, shorter step intervals are calculated based 
-/// on the previous step until max speed is achieved.
-/// 
-/// \par Donations
-///
-/// This library is offered under a free GPL license for those who want to use it that way. 
-/// We try hard to keep it up to date, fix bugs
-/// and to provide free support. If this library has helped you save time or money, please consider donating at
-/// http://www.airspayce.com or here:
-///
-/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
-/// 
-/// \par Trademarks
-///
-/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
-/// international trade, and is used only in relation to motor control hardware and software.
-/// It is not to be confused with any other similar marks covering other goods and services.
-///
-/// \par Copyright
-///
-/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
-/// conditions. The main licensing options available are GPL V2 or Commercial:
-///
-/// \par Open Source Licensing GPL V2
-/// This is the appropriate option if you want to share the source code of your
-/// application with everyone you distribute it to, and you also want to give them
-/// the right to share who uses it. If you wish to use this software under Open
-/// Source Licensing, you must contribute all your source code to the open source
-/// community in accordance with the GPL Version 2 when your application is
-/// distributed. See http://www.gnu.org/copyleft/gpl.html
-/// 
-/// \par Commercial Licensing
-/// This is the appropriate option if you are creating proprietary applications
-/// and you are not prepared to distribute and share the source code of your
-/// application. Contact info@airspayce.com for details.
-///
-/// \par Revision History
-/// \version 1.0 Initial release
-///
-/// \version 1.1 Added speed() function to get the current speed.
-/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
-/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
-/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
-/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements
-///              to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.
-///              Added checks for already running at max speed and skip further calcs if so. 
-/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. 
-///              Reported by Sandy Noble.
-///              Removed redundant _lastRunTime member.
-/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected. 
-///              Reported by Peter Linhart.
-/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
-/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
-/// \version 1.10 Builds on Arduino 1.0
-/// \version 1.11 Improvments from Michael Ellison:
-///   Added optional enable line support for stepper drivers
-///   Added inversion for step/direction/enable lines for stepper drivers
-/// \version 1.12 Announce Google Group
-/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case, 
-///    and more or less constant in all cases. This should result in slightly beter high speed performance, and
-///    reduce anomalous speed glitches when other steppers are accelerating. 
-///    However, its hard to see how to replace the sqrt() required at the very first step from 0 speed.
-/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
-/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
-///    running backwards to a smaller target position. Added examples
-/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
-/// \version 1.17 Added example ProportionalControl
-/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps 
-///    without counting. reported by  Friedrich, Klappenbach.
-/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
-///               for the motor interface. Updated examples to suit.
-///               Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4].
-///               _pins member changed to _interface.
-///               Added _pinInverted array to simplify pin inversion operations.
-///               Added new function setOutputPins() which sets the motor output pins.
-///               It can be overridden in order to provide, say, serial output instead of parallel output
-///               Some refactoring and code size reduction.
-/// \version 1.20 Improved documentation and examples to show need for correctly
-///               specifying AccelStepper::FULL4WIRE and friends.
-/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration
-///               when _speed was small but non-zero. Reported by Brian Schmalz.
-///               Precompute sqrt_twoa to improve performance and max possible stepping speed
-/// \version 1.22 Added Bounce.pde example
-///               Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more 
-///               frequently than the step time, even
-///               with the same values, would interfere with speed calcs. Now a new speed is computed 
-///               only if there was a change in the set value. Reported by Brian Schmalz.
-/// \version 1.23 Rewrite of the speed algorithms in line with 
-///               http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
-///               Now expect smoother and more linear accelerations and decelerations. The desiredSpeed()
-///               function was removed.
-/// \version 1.24  Fixed a problem introduced in 1.23: with runToPosition, which did never returned
-/// \version 1.25  Now ignore attempts to set acceleration to 0.0
-/// \version 1.26  Fixed a problem where certina combinations of speed and accelration could cause
-///                oscillation about the target position.
-/// \version 1.27  Added stop() function to stop as fast as possible with current acceleration parameters.
-///                Also added new Quickstop example showing its use.
-/// \version 1.28  Fixed another problem where certain combinations of speed and accelration could cause
-///                oscillation about the target position.
-///                Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
-///                Contributed by Yuri Ivatchkovitch.
-/// \version 1.29  Fixed a problem that could cause a DRIVER stepper to continually step
-///                with some sketches. Reported by Vadim.
-/// \version 1.30  Fixed a problem that could cause stepper to back up a few steps at the end of
-///                accelerated travel with certain speeds. Reported and patched by jolo.
-/// \version 1.31  Updated author and distribution location details to airspayce.com
-/// \version 1.32  Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
-///                prevented the enable pin changing stae correctly. Reported by Duane Bishop.
-/// \version 1.33  Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed();
-///                Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE.
-///                Unfortunately this meant changing the signature for all step*() functions.
-///                Added example MotorShield, showing how to use AdaFruit Motor Shield to control
-///                a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library.
-/// \version 1.34  Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) 
-///                to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg.
-/// \version 1.35  Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with 
-///                setPinsInverted(bool, bool, bool). Reported by Mac Mac.
-/// \version 1.36  Changed enableOutputs() and disableOutputs() to be virtual so can be overridden.
-///                Added new optional argument 'enable' to constructor, which allows you toi disable the 
-///                automatic enabling of outputs at construction time. Suggested by Guido.
-/// \version 1.37  Fixed a problem with step1 that could cause a rogue step in the 
-///                wrong direction (or not,
-///                depending on the setup-time requirements of the connected hardware). 
-///                Reported by Mark Tillotson.
-/// \version 1.38  run() function incorrectly always returned true. Updated function and doc so it returns true 
-///                if the motor is still running to the target position.
-/// \version 1.39  Updated typos in keywords.txt, courtesey Jon Magill.
-/// \version 1.40  Updated documentation, including testing on Teensy 3.1
-/// \version 1.41  Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
-/// \version 1.42  Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
-///                contribution but did not make it into production.<br>
-/// \version 1.43  Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the 
-///                Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
-/// \version 1.44  examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
-///                was missing from the distribution.<br>
-/// \version 1.45  Fixed a problem where if setAcceleration was not called, there was no default
-///                acceleration. Reported by Michael Newman.<br>
-/// \version 1.45  Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
-///                Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
-/// \version 1.46  Fixed error in documentation for runToPosition().
-///                Reinstated time calculations in runSpeed() since new version is reported 
-///                not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
-
-///
-/// \author  Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
-// Copyright (C) 2009-2013 Mike McCauley
-// $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $
-
-#ifndef AccelStepper_h
-#define AccelStepper_h
-
-#include <stdlib.h>
-#if ARDUINO >= 100
-#include <Arduino.h>
-#else
-#include <WProgram.h>
-#include <wiring.h>
-#endif
-
-// These defs cause trouble on some versions of Arduino
-#undef round
-
-/////////////////////////////////////////////////////////////////////
-/// \class AccelStepper AccelStepper.h <AccelStepper.h>
-/// \brief Support for stepper motors with acceleration etc.
-///
-/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional
-/// acceleration, deceleration, absolute positioning commands etc. Multiple
-/// simultaneous steppers are supported, all moving 
-/// at different speeds and accelerations. 
-///
-/// \par Operation
-/// This module operates by computing a step time in microseconds. The step
-/// time is recomputed after each step and after speed and acceleration
-/// parameters are changed by the caller. The time of each step is recorded in
-/// microseconds. The run() function steps the motor once if a new step is due.
-/// The run() function must be called frequently until the motor is in the
-/// desired position, after which time run() will do nothing.
-///
-/// \par Positioning
-/// Positions are specified by a signed long integer. At
-/// construction time, the current position of the motor is consider to be 0. Positive
-/// positions are clockwise from the initial position; negative positions are
-/// anticlockwise. The current position can be altered for instance after
-/// initialization positioning.
-///
-/// \par Caveats
-/// This is an open loop controller: If the motor stalls or is oversped,
-/// AccelStepper will not have a correct 
-/// idea of where the motor really is (since there is no feedback of the motor's
-/// real position. We only know where we _think_ it is, relative to the
-/// initial starting point).
-///
-/// \par Performance
-/// The fastest motor speed that can be reliably supported is about 4000 steps per
-/// second at a clock frequency of 16 MHz on Arduino such as Uno etc. 
-/// Faster processors can support faster stepping speeds. 
-/// However, any speed less than that
-/// down to very slow speeds (much less than one per second) are also supported,
-/// provided the run() function is called frequently enough to step the motor
-/// whenever required for the speed set.
-/// Calling setAcceleration() is expensive,
-/// since it requires a square root to be calculated.
-class AccelStepper
-{
-public:
-    /// \brief Symbolic names for number of pins.
-    /// Use this in the pins argument the AccelStepper constructor to 
-    /// provide a symbolic name for the number of pins
-    /// to use.
-    typedef enum
-    {
-	FUNCTION  = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
-	DRIVER    = 1, ///< Stepper Driver, 2 driver pins required
-	FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
-	FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
-        FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
-	HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
-	HALF4WIRE = 8  ///< 4 wire half stepper, 4 motor pins required
-    } MotorInterfaceType;
-
-    /// Constructor. You can have multiple simultaneous steppers, all moving
-    /// at different speeds and accelerations, provided you call their run()
-    /// functions at frequent enough intervals. Current Position is set to 0, target
-    /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
-    /// The motor pins will be initialised to OUTPUT mode during the
-    /// constructor by a call to enableOutputs().
-    /// \param[in] interface Number of pins to interface to. 1, 2, 4 or 8 are
-    /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names. 
-    /// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
-    /// If an enable line is also needed, call setEnablePin() after construction.
-    /// You may also invert the pins using setPinsInverted().
-    /// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required). 
-    /// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required). 
-    /// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required). 
-    /// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
-    /// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
-    /// Defaults to AccelStepper::FULL4WIRE (4) pins.
-    /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
-    /// to pin 2. For a AccelStepper::DRIVER (interface==1), 
-    /// this is the Step input to the driver. Low to high transition means to step)
-    /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
-    /// to pin 3. For a AccelStepper::DRIVER (interface==1), 
-    /// this is the Direction input the driver. High means forward.
-    /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
-    /// to pin 4.
-    /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
-    /// to pin 5.
-    /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
-    /// the output pins at construction time.
-    AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
-
-    /// Alternate Constructor which will call your own functions for forward and backward steps. 
-    /// You can have multiple simultaneous steppers, all moving
-    /// at different speeds and accelerations, provided you call their run()
-    /// functions at frequent enough intervals. Current Position is set to 0, target
-    /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
-    /// Any motor initialization should happen before hand, no pins are used or initialized.
-    /// \param[in] forward void-returning procedure that will make a forward step
-    /// \param[in] backward void-returning procedure that will make a backward step
-    AccelStepper(void (*forward)(), void (*backward)());
-    
-    /// Set the target position. The run() function will try to move the motor (at most one step per call)
-    /// from the current position to the target position set by the most
-    /// recent call to this function. Caution: moveTo() also recalculates the speed for the next step. 
-    /// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
-    /// \param[in] absolute The desired absolute position. Negative is
-    /// anticlockwise from the 0 position.
-    void    moveTo(long absolute); 
-
-    /// Set the target position relative to the current position
-    /// \param[in] relative The desired position relative to the current position. Negative is
-    /// anticlockwise from the current position.
-    void    move(long relative);
-
-    /// Poll the motor and step it if a step is due, implementing
-    /// accelerations and decelerations to acheive the target position. You must call this as
-    /// frequently as possible, but at least once per minimum step time interval,
-    /// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due,
-    /// based on the current speed and the time since the last step.
-    /// \return true if the motor is still running to the target position.
-    boolean run();
-
-    /// Poll the motor and step it if a step is due, implementing a constant
-    /// speed as set by the most recent call to setSpeed(). You must call this as
-    /// frequently as possible, but at least once per step interval,
-    /// \return true if the motor was stepped.
-    boolean runSpeed();
-
-    /// Sets the maximum permitted speed. The run() function will accelerate
-    /// up to the speed set by this function.
-    /// Caution: the maximum speed achievable depends on your processor and clock speed.
-    /// \param[in] speed The desired maximum speed in steps per second. Must
-    /// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
-    /// Result in non-linear accelerations and decelerations.
-    void    setMaxSpeed(float speed);
-
-    /// Sets the acceleration/deceleration rate.
-    /// \param[in] acceleration The desired acceleration in steps per second
-    /// per second. Must be > 0.0. This is an expensive call since it requires a square 
-    /// root to be calculated. Dont call more ofthen than needed
-    void    setAcceleration(float acceleration);
-
-    /// Sets the desired constant speed for use with runSpeed().
-    /// \param[in] speed The desired constant speed in steps per
-    /// second. Positive is clockwise. Speeds of more than 1000 steps per
-    /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
-    /// once per hour, approximately. Speed accuracy depends on the Arduino
-    /// crystal. Jitter depends on how frequently you call the runSpeed() function.
-    void    setSpeed(float speed);
-
-    /// The most recently set speed
-    /// \return the most recent speed in steps per second
-    float   speed();
-
-    /// The distance from the current position to the target position.
-    /// \return the distance from the current position to the target position
-    /// in steps. Positive is clockwise from the current position.
-    long    distanceToGo();
-
-    /// The most recently set target position.
-    /// \return the target position
-    /// in steps. Positive is clockwise from the 0 position.
-    long    targetPosition();
-
-    /// The currently motor position.
-    /// \return the current motor position
-    /// in steps. Positive is clockwise from the 0 position.
-    long    currentPosition();  
-
-    /// Resets the current position of the motor, so that wherever the motor
-    /// happens to be right now is considered to be the new 0 position. Useful
-    /// for setting a zero position on a stepper after an initial hardware
-    /// positioning move.
-    /// Has the side effect of setting the current motor speed to 0.
-    /// \param[in] position The position in steps of wherever the motor
-    /// happens to be right now.
-    void    setCurrentPosition(long position);  
-    
-    /// Moves the motor (with acceleration/deceleration) 
-    /// to the target position and blocks until it is at
-    /// position. Dont use this in event loops, since it blocks.
-    void    runToPosition();
-
-    /// Runs at the currently selected speed until the target position is reached
-    /// Does not implement accelerations.
-    /// \return true if it stepped
-    boolean runSpeedToPosition();
-
-    /// Moves the motor (with acceleration/deceleration)
-    /// to the new target position and blocks until it is at
-    /// position. Dont use this in event loops, since it blocks.
-    /// \param[in] position The new target position.
-    void    runToNewPosition(long position);
-
-    /// Sets a new target position that causes the stepper
-    /// to stop as quickly as possible, using the current speed and acceleration parameters.
-    void stop();
-
-    /// Disable motor pin outputs by setting them all LOW
-    /// Depending on the design of your electronics this may turn off
-    /// the power to the motor coils, saving power.
-    /// This is useful to support Arduino low power modes: disable the outputs
-    /// during sleep and then reenable with enableOutputs() before stepping
-    /// again.
-    virtual void    disableOutputs();
-
-    /// Enable motor pin outputs by setting the motor pins to OUTPUT
-    /// mode. Called automatically by the constructor.
-    virtual void    enableOutputs();
-
-    /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is 
-    /// approximately 20 microseconds. Times less than 20 microseconds
-    /// will usually result in 20 microseconds or so.
-    /// \param[in] minWidth The minimum pulse width in microseconds. 
-    void    setMinPulseWidth(unsigned int minWidth);
-
-    /// Sets the enable pin number for stepper drivers.
-    /// 0xFF indicates unused (default).
-    /// Otherwise, if a pin is set, the pin will be turned on when 
-    /// enableOutputs() is called and switched off when disableOutputs() 
-    /// is called.
-    /// \param[in] enablePin Arduino digital pin number for motor enable
-    /// \sa setPinsInverted
-    void    setEnablePin(uint8_t enablePin = 0xff);
-
-    /// Sets the inversion for stepper driver pins
-    /// \param[in] directionInvert True for inverted direction pin, false for non-inverted
-    /// \param[in] stepInvert      True for inverted step pin, false for non-inverted
-    /// \param[in] enableInvert    True for inverted enable pin, false (default) for non-inverted
-    void    setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
-
-    /// Sets the inversion for 2, 3 and 4 wire stepper pins
-    /// \param[in] pin1Invert True for inverted pin1, false for non-inverted
-    /// \param[in] pin2Invert True for inverted pin2, false for non-inverted
-    /// \param[in] pin3Invert True for inverted pin3, false for non-inverted
-    /// \param[in] pin4Invert True for inverted pin4, false for non-inverted
-    /// \param[in] enableInvert    True for inverted enable pin, false (default) for non-inverted
-    void    setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
-
-protected:
-
-    /// \brief Direction indicator
-    /// Symbolic names for the direction the motor is turning
-    typedef enum
-    {
-	DIRECTION_CCW = 0,  ///< Clockwise
-        DIRECTION_CW  = 1   ///< Counter-Clockwise
-    } Direction;
-
-    /// Forces the library to compute a new instantaneous speed and set that as
-    /// the current speed. It is called by
-    /// the library:
-    /// \li  after each step
-    /// \li  after change to maxSpeed through setMaxSpeed()
-    /// \li  after change to acceleration through setAcceleration()
-    /// \li  after change to target position (relative or absolute) through
-    /// move() or moveTo()
-    void           computeNewSpeed();
-
-    /// Low level function to set the motor output pins
-    /// bit 0 of the mask corresponds to _pin[0]
-    /// bit 1 of the mask corresponds to _pin[1]
-    /// You can override this to impment, for example serial chip output insted of using the
-    /// output pins directly
-    virtual void   setOutputPins(uint8_t mask);
-
-    /// Called to execute a step. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the
-    /// number of pins defined for the stepper.
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step(long step);
-
-    /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
-    /// required. Calls _forward() or _backward() to perform the step
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step0(long step);
-
-    /// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of Step pin1 to step, 
-    /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond
-    /// which is the minimum STEP pulse width for the 3967 driver.
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step1(long step);
-
-    /// Called to execute a step on a 2 pin motor. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1 and pin2
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step2(long step);
-
-    /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1, pin2,
-    /// pin3
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step3(long step);
-
-    /// Called to execute a step on a 4 pin motor. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1, pin2,
-    /// pin3, pin4.
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step4(long step);
-
-    /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1, pin2,
-    /// pin3
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step6(long step);
-
-    /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is
-    /// required. Subclasses may override to implement new stepping
-    /// interfaces. The default sets or clears the outputs of pin1, pin2,
-    /// pin3, pin4.
-    /// \param[in] step The current step phase number (0 to 7)
-    virtual void   step8(long step);
-
-private:
-    /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
-    /// bipolar, and 4 pins is a unipolar.
-    uint8_t        _interface;          // 0, 1, 2, 4, 8, See MotorInterfaceType
-
-    /// Arduino pin number assignments for the 2 or 4 pins required to interface to the
-    /// stepper motor or driver
-    uint8_t        _pin[4];
-
-    /// Whether the _pins is inverted or not
-    uint8_t        _pinInverted[4];
-
-    /// The current absolution position in steps.
-    long           _currentPos;    // Steps
-
-    /// The target position in steps. The AccelStepper library will move the
-    /// motor from the _currentPos to the _targetPos, taking into account the
-    /// max speed, acceleration and deceleration
-    long           _targetPos;     // Steps
-
-    /// The current motos speed in steps per second
-    /// Positive is clockwise
-    float          _speed;         // Steps per second
-
-    /// The maximum permitted speed in steps per second. Must be > 0.
-    float          _maxSpeed;
-
-    /// The acceleration to use to accelerate or decelerate the motor in steps
-    /// per second per second. Must be > 0
-    float          _acceleration;
-    float          _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
-
-    /// The current interval between steps in microseconds.
-    /// 0 means the motor is currently stopped with _speed == 0
-    unsigned long  _stepInterval;
-
-    /// The last step time in microseconds
-    unsigned long  _lastStepTime;
-
-    /// The minimum allowed pulse width in microseconds
-    unsigned int   _minPulseWidth;
-
-    /// Is the direction pin inverted?
-    ///bool           _dirInverted; /// Moved to _pinInverted[1]
-
-    /// Is the step pin inverted?
-    ///bool           _stepInverted; /// Moved to _pinInverted[0]
-
-    /// Is the enable pin inverted?
-    bool           _enableInverted;
-
-    /// Enable pin for stepper driver, or 0xFF if unused.
-    uint8_t        _enablePin;
-
-    /// The pointer to a forward-step procedure
-    void (*_forward)();
-
-    /// The pointer to a backward-step procedure
-    void (*_backward)();
-
-    /// The step counter for speed calculations
-    long _n;
-
-    /// Initial step size in microseconds
-    float _c0;
-
-    /// Last step size in microseconds
-    float _cn;
-
-    /// Min step size in microseconds based on maxSpeed
-    float _cmin; // at max speed
-
-    /// Current direction motor is spinning in
-    boolean _direction; // 1 == CW
-
-};
-
-/// @example Random.pde
-/// Make a single stepper perform random changes in speed, position and acceleration
-
-/// @example Overshoot.pde
-///  Check overshoot handling
-/// which sets a new target position and then waits until the stepper has 
-/// achieved it. This is used for testing the handling of overshoots
-
-/// @example MultiStepper.pde
-/// Shows how to multiple simultaneous steppers
-/// Runs one stepper forwards and backwards, accelerating and decelerating
-/// at the limits. Runs other steppers at the same time
-
-/// @example ConstantSpeed.pde
-/// Shows how to run AccelStepper in the simplest,
-/// fixed speed mode with no accelerations
-
-/// @example Blocking.pde 
-/// Shows how to use the blocking call runToNewPosition
-/// Which sets a new target position and then waits until the stepper has 
-/// achieved it.
-
-/// @example AFMotor_MultiStepper.pde
-/// Control both Stepper motors at the same time with different speeds
-/// and accelerations. 
-
-/// @example AFMotor_ConstantSpeed.pde
-/// Shows how to run AccelStepper in the simplest,
-/// fixed speed mode with no accelerations
-
-/// @example ProportionalControl.pde
-/// Make a single stepper follow the analog value read from a pot or whatever
-/// The stepper will move at a constant speed to each newly set posiiton, 
-/// depending on the value of the pot.
-
-/// @example Bounce.pde
-/// Make a single stepper bounce from one limit to another, observing
-/// accelrations at each end of travel
-
-/// @example Quickstop.pde
-/// Check stop handling.
-/// Calls stop() while the stepper is travelling at full speed, causing
-/// the stepper to stop as quickly as possible, within the constraints of the
-/// current acceleration.
-
-/// @example MotorShield.pde
-/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
-/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
-
-/// @example DualMotorShield.pde
-/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the 
-/// Itead Studio Arduino Dual Stepper Motor Driver Shield
-/// model IM120417015
-
-#endif 

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+  9.803921802644E-02);
+ENDSEC;
+END-ISO-10303-21;

EggDuino.ino

@@ -1,109 +0,0 @@
-/* Eggduino-Firmware by Joachim Cerny, 2014
-
-   Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier.
-   Thanks to the Eggbot-Team for such a funny and enjoable concept!
-   Thanks to my wife and my daughter for their patience. :-)
-
- */
-
-// implemented Eggbot-Protocol-Version v13
-// EBB-Command-Reference, I sourced from: http://www.schmalzhaus.com/EBB/EBBCommands.html
-// no homing sequence, switch-on position of pen will be taken as reference point.
-// No collision-detection!!
-// Supported Servos: I do not know, I use Arduino Servo Lib with TG9e- standard servo.
-// Note: Maximum-Speed in Inkscape is 1000 Steps/s. You could enter more, but then Pythonscript sends nonsense.
-// EBB-Coordinates are coming in for 16th-Microstepmode. The Coordinate-Transforms are done in weired integer-math. Be careful, when you diecide to modify settings.
-
-/* TODOs:
-   1	collision control via penMin/penMax
-   2	implement homing sequence via microswitch or optical device
- */
-
-#include "AccelStepper.h" // nice lib from http://www.airspayce.com/mikem/arduino/AccelStepper/
-#include <Servo.h>
-#include "SerialCommand.h" //nice lib from Stefan Rado, https://github.com/kroimon/Arduino-SerialCommand
-#include <avr/eeprom.h>
-#include "button.h"
-
-#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a"
-//Rotational Stepper:
-#define step1 11
-#define dir1 10
-#define enableRotMotor 9
-#define rotMicrostep 16  //MicrostepMode, only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
-//Pen Stepper:
-#define step2 8
-#define dir2 7
-#define enablePenMotor 6
-#define penMicrostep 16 //MicrostepMode, only 1,2,4,8,16 allowed, because of Integer-Math in this Sketch
-
-#define servoPin 3 //Servo
-
-// EXTRAFEATURES - UNCOMMENT TO USE THEM -------------------------------------------------------------------
-
-// #define prgButton 2 // PRG button
-// #define penToggleButton 12 // pen up/down button
-// #define motorsButton 4 // motors enable button
-
-//-----------------------------------------------------------------------------------------------------------
-
-#define penUpPosEEAddress ((uint16_t *)0)
-#define penDownPosEEAddress ((uint16_t *)2)
-
-//make Objects
-AccelStepper rotMotor(1, step1, dir1);
-AccelStepper penMotor(1, step2, dir2);
-Servo penServo;
-SerialCommand SCmd;
-//create Buttons
-#ifdef prgButton
-	Button prgButtonToggle(prgButton, setprgButtonState);
-#endif
-#ifdef penToggleButton
-	Button penToggle(penToggleButton, doTogglePen);
-#endif
-#ifdef motorsButton
-	Button motorsToggle(motorsButton, toggleMotors);
-#endif
-// Variables... be careful, by messing around here, everything has a reason and crossrelations...
-int penMin=0;
-int penMax=0;
-int penUpPos=5;  //can be overwritten from EBB-Command SC
-int penDownPos=20; //can be overwritten from EBB-Command SC
-int servoRateUp=0; //from EBB-Protocol not implemented on machine-side
-int servoRateDown=0; //from EBB-Protocol not implemented on machine-side
-long rotStepError=0;
-long penStepError=0;
-int penState=penUpPos;
-uint32_t nodeCount=0;
-unsigned int layer=0;
-boolean prgButtonState=0;
-uint8_t rotStepCorrection = 16/rotMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
-uint8_t penStepCorrection = 16/penMicrostep ; //devide EBB-Coordinates by this factor to get EGGduino-Steps
-float rotSpeed=0;
-float penSpeed=0; // these are local variables for Function SteppermotorMove-Command, but for performance-reasons it will be initialized here
-boolean motorsEnabled = 0;
-
-void setup() {   
-	Serial.begin(9600);
-	makeComInterface();
-	initHardware();
-}
-
-void loop() {
-	moveOneStep();
-
-	SCmd.readSerial();
-
-#ifdef penToggleButton
-	penToggle.check();
-#endif
-
-#ifdef motorsButton
-	motorsToggle.check();
-#endif
-
-#ifdef prgButton
-	prgButtonToggle.check();
-#endif
-}

Functions.ino

@@ -1,264 +0,0 @@
-
-void makeComInterface(){
-	SCmd.addCommand("v",sendVersion);
-	SCmd.addCommand("EM",enableMotors);
-	SCmd.addCommand("SC",stepperModeConfigure);
-	SCmd.addCommand("SP",setPen);
-	SCmd.addCommand("SM",stepperMove);
-	SCmd.addCommand("SE",ignore);
-	SCmd.addCommand("TP",togglePen);
-	SCmd.addCommand("PO",ignore);    //Engraver command, not implemented, gives fake answer
-	SCmd.addCommand("NI",nodeCountIncrement);
-	SCmd.addCommand("ND",nodeCountDecrement);
-	SCmd.addCommand("SN",setNodeCount);
-	SCmd.addCommand("QN",queryNodeCount);
-	SCmd.addCommand("SL",setLayer);
-	SCmd.addCommand("QL",queryLayer);
-	SCmd.addCommand("QP",queryPen);
-	SCmd.addCommand("QB",queryButton);  //"PRG" Button,
-	SCmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
-}
-
-void queryPen() {
-	char state;
-	if (penState==penUpPos)
-		state='1';
-	else
-		state='0';
-	Serial.print(String(state)+"\r\n");
-	sendAck();
-}
-
-void queryButton() {
-	Serial.print(String(prgButtonState) +"\r\n");
-	sendAck();
-	prgButtonState = 0;
-}
-
-void queryLayer() {
-	Serial.print(String(layer) +"\r\n");
-	sendAck();
-} 
-
-void setLayer() {
-	uint32_t value=0;
-	char *arg1;
-	arg1 = SCmd.next();
-	if (arg1 != NULL) {
-		value = atoi(arg1);
-		layer=value;
-		sendAck();
-	}
-	else
-		sendError();
-}
-
-void queryNodeCount() {
-	Serial.print(String(nodeCount) +"\r\n");
-	sendAck();
-
-}
-
-void setNodeCount() {
-	uint32_t value=0;
-	char *arg1;
-	arg1 = SCmd.next();
-	if (arg1 != NULL) {
-		value = atoi(arg1);
-		nodeCount=value;
-		sendAck();
-	}
-	else
-		sendError();
-}
-
-void nodeCountIncrement() {
-	nodeCount=nodeCount++;
-	sendAck();	
-}
-
-void nodeCountDecrement() {
-	nodeCount=nodeCount--;
-	sendAck();
-}
-
-void stepperMove() {
-	uint16_t duration=0; //in ms
-	int penStepsEBB=0; //Pen
-	int rotStepsEBB=0; //Rot
-
-	moveToDestination();
-
-	if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB)) {
-		sendError();
-		return;
-	}
-
-	sendAck();
-
-	if ( (penStepsEBB==0) && (rotStepsEBB==0) ) {
-		delay(duration);
-		return;
-	}
-
-	prepareMove(duration, penStepsEBB, rotStepsEBB);
-}
-
-void setPen(){
-	int cmd;
-	int value;
-	char *arg;
-
-	moveToDestination();
-
-	arg = SCmd.next();
-	if (arg != NULL) {
-		cmd = atoi(arg);
-		switch (cmd) {
-			case 0:
-				penServo.write(penUpPos);
-				penState=penUpPos;
-				break;
-
-			case 1:
-				penServo.write(penDownPos);
-				penState=penDownPos;
-				break;
-
-			default:
-				sendError();
-		}
-	}
-	char *val;
-	val = SCmd.next();
-	if (val != NULL) {
-		value = atoi(val);
-		sendAck();
-		delay(value);
-	}
-	if (val==NULL && arg !=NULL)  {
-		sendAck();
-		delay(500);
-	}
-	//	Serial.println("delay");
-	if (val==NULL && arg ==NULL)
-		sendError();
-}  
-
-void togglePen(){
-	int value;
-	char *arg;
-
-	moveToDestination();
-
-	arg = SCmd.next();
-	if (arg != NULL)
-		value = atoi(arg);
-	else
-		value = 500;
-
-	doTogglePen();
-	sendAck();
-	delay(value);
-}
-
-void doTogglePen() {
-	if (penState==penUpPos) {
-		penServo.write(penDownPos);
-		penState=penDownPos;
-	} else   {
-		penServo.write(penUpPos);
-		penState=penUpPos;
-	}
-}
-
-void enableMotors(){
-	int cmd;
-	int value;
-	char *arg;
-	char *val;
-	arg = SCmd.next();
-	if (arg != NULL)
-		cmd = atoi(arg);
-	val = SCmd.next();
-	if (val != NULL)
-		value = atoi(val);
-	//values parsed
-	if ((arg != NULL) && (val == NULL)){
-		switch (cmd) {
-			case 0: motorsOff();
-				sendAck();
-				break;
-			case 1: motorsOn();
-				sendAck();
-				break;
-			default:
-				sendError();
-		}
-	}
-	//the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
-	if ((arg != NULL) && (val != NULL)){
-		switch (value) {
-			case 0: motorsOff();
-				sendAck();
-				break;
-			case 1: motorsOn();
-				sendAck();
-				break;
-			default:
-				sendError();
-		}
-	}
-}
-
-void stepperModeConfigure(){
-	int cmd;
-	int value;
-	char *arg;
-	arg = SCmd.next();
-	if (arg != NULL)
-		cmd = atoi(arg);
-	char *val;
-	val = SCmd.next();
-	if (val != NULL)
-		value = atoi(val);
-	if ((arg != NULL) && (val != NULL)){
-		switch (cmd) {
-			case 4: penDownPos= (int) ((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
-				storePenDownPosInEE();
-				sendAck();
-				break;
-			case 5: penUpPos= (int)((float) (value-6000)/(float) 133.3); // transformation from EBB to PWM-Servo
-				storePenUpPosInEE();
-				sendAck();
-				break;
-			case 6: //rotMin=value;    ignored
-				sendAck();
-				break;
-			case 7: //rotMax=value;    ignored
-				sendAck();
-				break;
-			case 11: servoRateUp=value;
-				 sendAck();
-				 break;
-			case 12: servoRateDown=value;
-				 sendAck();
-				 break;
-			default:
-				 sendError();
-		}
-	}
-}
-
-void sendVersion(){
-	Serial.print(initSting);
-	Serial.print("\r\n");
-}
-
-void unrecognized(const char *command){
-	sendError();
-}
-
-void ignore(){
-	sendAck();
-}

Helper_Functions.ino

@@ -1,135 +0,0 @@
-void initHardware(){
-	// enable eeprom wait in avr/eeprom.h functions
-	SPMCSR &= ~SELFPRGEN;
-
-	loadPenPosFromEE();
-
-	pinMode(enableRotMotor, OUTPUT);
-	pinMode(enablePenMotor, OUTPUT);
-
-	rotMotor.setMaxSpeed(2000.0);
-	rotMotor.setAcceleration(10000.0);
-	penMotor.setMaxSpeed(2000.0);
-	penMotor.setAcceleration(10000.0);
-	motorsOff();
-	penServo.attach(servoPin);
-	penServo.write(penState);
-}
-
-inline void loadPenPosFromEE() {
-	penUpPos = eeprom_read_word(penUpPosEEAddress);
-	penDownPos = eeprom_read_word(penDownPosEEAddress);
-	penState = penUpPos;
-}
-
-inline void storePenUpPosInEE() {
-	eeprom_update_word(penUpPosEEAddress, penUpPos);
-}
-
-inline void storePenDownPosInEE() {
-	eeprom_update_word(penDownPosEEAddress, penDownPos);
-}
-
-inline void sendAck(){
-	Serial.print("OK\r\n");
-}
-
-inline void sendError(){
-	Serial.print("unknown CMD\r\n");
-}
-
-void motorsOff() {
-	digitalWrite(enableRotMotor, HIGH);
-	digitalWrite(enablePenMotor, HIGH);
-	motorsEnabled = 0;
-}
-
-void motorsOn() {
-	digitalWrite(enableRotMotor, LOW) ;
-	digitalWrite(enablePenMotor, LOW) ;
-	motorsEnabled = 1;
-}
-
-void toggleMotors() {
-	if (motorsEnabled) {
-		motorsOff();
-	} else {
-		motorsOn();
-	}
-}
-
-bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB) {
-	char *arg1;
-	char *arg2;
-	char *arg3;
-	arg1 = SCmd.next();
-	if (arg1 != NULL) {
-		*duration = atoi(arg1);
-		arg2 = SCmd.next();
-	}
-	if (arg2 != NULL) {
-		*penStepsEBB = atoi(arg2);
-		arg3 = SCmd.next();
-	}
-	if (arg3 != NULL) {
-		*rotStepsEBB = atoi(arg3);
-
-		return true;
-	}
-
-	return false;
-}
-
-void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB) {
-	if (!motorsEnabled) {
-		motorsOn();
-	}
-	if( (1 == rotStepCorrection) && (1 == penStepCorrection) ){ // if coordinatessystems are identical
-		//set Coordinates and Speed
-		rotMotor.move(rotStepsEBB);
-		rotMotor.setSpeed( abs( (float)rotStepsEBB * (float)1000 / (float)duration ) );
-		penMotor.move(penStepsEBB);
-		penMotor.setSpeed( abs( (float)penStepsEBB * (float)1000 / (float)duration ) );
-	} else {
-		//incoming EBB-Steps will be multiplied by 16, then Integer-maths is done, result will be divided by 16
-		// This make thinks here really complicated, but floating point-math kills performance and memory, believe me... I tried...
-		long rotSteps =   (  (long)rotStepsEBB * 16 / rotStepCorrection) + (long)rotStepError;	//correct incoming EBB-Steps to our microstep-Setting and multiply  by 16 to avoid floatingpoint...
-		long penSteps =   (  (long)penStepsEBB * 16 / penStepCorrection) + (long)penStepError;
-
-		int rotStepsToGo = (int) (rotSteps/16);		//Calc Steps to go, which are possible on our machine
-		int penStepsToGo = (int) (penSteps/16);
-
-		rotStepError = (long)rotSteps - ((long) rotStepsToGo * (long)16);	// calc Position-Error, if there is one
-		penStepError = (long)penSteps - ((long) penStepsToGo * (long)16);
-
-		long temp_rotSpeed =  ((long)rotStepsToGo * (long)1000 / (long)duration );	// calc Speed in Integer Math
-		long temp_penSpeed =  ((long)penStepsToGo * (long)1000 / (long)duration ) ;
-
-		float rotSpeed= (float) abs(temp_rotSpeed);	// type cast
-		float penSpeed= (float) abs(temp_penSpeed);
-
-		//set Coordinates and Speed
-		rotMotor.move(rotStepsToGo);		// finally, let us set the target position...
-		rotMotor.setSpeed(rotSpeed);		// and the Speed!
-		penMotor.move(penStepsToGo);
-		penMotor.setSpeed( penSpeed );
-	}
-}
-
-void moveOneStep() {
-	if ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
-		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
-		rotMotor.runSpeedToPosition();
-	}
-}
-
-void moveToDestination() {
-	while ( penMotor.distanceToGo() || rotMotor.distanceToGo() ) {
-		penMotor.runSpeedToPosition(); // Moving.... moving... moving....
-		rotMotor.runSpeedToPosition();
-	}
-}
-
-void setprgButtonState(){
-	prgButtonState = 1;
-}

README.md

@@ -1,46 +1,62 @@
-Eggduino
-====
+# Der Sternenlabor EggBot
+* Basiert auf EggDuino mit folgenden Anpassungen
+   * portiert auf ESP32
+   * Bessere Stepper Library
+   * Einfache Bahnplanung (weniger Verzerrungen)
+   * Stift Servo mit Rampensteuerung
+   * Webinterface für Logging und Einstellungen (Anschlussbelegung)
+   * BLE Interface (http://Eggbot.app)
+   * Web Socket Interace (aktuell ungetestet)
+   * RS232 Kommunikation mit 115200 (zuvor 9600)
+* Inkscape Plugin AxiDraw_395 (siehe GIT)
+   * Modifizierte ebb_serial.py zur Erkennung 
+   * Modifizierte eggbot.py - entfernt Pausen zwischen Bewegungen
+* Verwendung ohne Inkscape mittels http://EggBot.app
 
-Arduino Firmware for Eggbot / Spherebot with Inkscape-Integration
+Ohne angepasstes Inkscape Plugin kann keine Kommunikation zum EggBot aufgenommen werden.
 
-Version 1.6a
-tested with Inkscape Portable 0.91, Eggbot Extension and patched eggbot.py
+# Materialliste
 
-Regards: Eggduino-Firmware by Joachim Cerny, 2015
+Schrauben:
+* Motor Welle Ei: M3x8
+* Motorbefestigung: 8x M3x10
+* Motor Welle Stift: M3x12
+* Klemme für Eihalterung: 2x M3x16
+* Spannschraube Stift: M3x25
+* Armgelenk: M3x30
+* Mutter: 4x M3 **vierkant!**
+* Platine Schrauben: 4x M2.3x5
+* Schrauben für Feder: 2x M2.3x5
+* Scheiben für Feder: 2x M3x6x0.5
 
-Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier. Thanks to the Eggbot-Team for such a funny and enjoyable concept! Thanks to my wife and my daughter for their patience. :-)
+Sonstiges:
+* Zugfeder: 8x17 (entspannt)
+* O-Ring: 3x 18x2
+* Kugellager: 608ZZ (8x22x7)
 
-Features:
+Elektronik:
+* 2x Schrittmotor Nema 17 (200 Schritte/Umd.)
+* 2x Anschlusskabel
+* 1x Micro Servo
+* 1x CNC Shield (z.B. AZDelivery)
+* 2x Schrittmotor Treiber DRV8825
+   * Konfiguriert auf 32 Mikroschritte
+   * Auf 0,5V kalibriert
+* 1x ESP32 Arduino UNO Formfaktor
+* 1x Netzteil 12V min. 1A
+* 1x Micro USB Kabel
 
-- Implemented Eggbot-Protocol-Version 2.1.0
-- Turn-on homing: switch-on position of pen will be taken as reference point.
-- No collision-detection!!
-- Supported Servos: At least one type ;-) I use Arduino Servo-Lib with TG9e- standard servo.
-- Full Arduino-Compatible. I used an Arduino Uno
-- Button-support (3 buttons)
+3D-Druckteile: https://www.thingiverse.com/thing:3431363 (hoffentlich bald in unserem GIT)
 
-Tested and fully functional with Inkscape.
+# Elektronik
+Damit der ESP32 mit angeschlossenem CNC Shield korrekt funktioniert. Muss zwischen Enable und GND ein 1k Widerstand eingelötet werden.
+ ![CNC Mod](res/cnc-shield-mod.png)
 
-Installation:
+## Anschlussbelegung
+* Ei-Drehen Stepper: Y
+* Stift-Bewegen Stepper: X
+* Servo Ctrl Pin: Z-Step
+* USB Versorgung an ESP32 UNO (nötig)
+* 12V Netzteil an CNC Shield (nicht ESP32 UNO Buche)
 
-- Upload Eggduino.ino with Arduino-IDE or similar tool to your Arudino (i.e. Uno)
-- Disable Autoreset on Arduinoboard (there are several ways to do this... Which one does not matter...)
-- Install Inkscape Tools wit Eggbot extension. Detailed instructions: (You yust need to complete Steps 1 and 2)
-http://wiki.evilmadscientist.com/Installing_software
-
-- Because of an bug in the Eggbot-extension (Function findEiBotBoards()), the Eggduino cannot be detected by default.
-	Hopefully, the guys will fix this later on. But we can fix it on our own.
-    It is quiete easy:
-	
-        - Go to your Inkscape-Installationfolder and navigate to subfolder .\App\Inkscape\share\extensions
-		- open File "eggbot.py" in texteditor and search for line:
-			"Try any devices which seem to have EBB boards attached"
-                - comment that block with "#" like this:
-                		# Try any devices which seem to have EBB boards attached
-				# for strComPort in eggbot_scan.findEiBotBoards():
-				#	serialPort = self.testSerialPort( strComPort )
-				#	if serialPort:
-				#		self.svgSerialPort = strComPort
-				#		return serialPort
-		- In my version lines 1355-1360
- 
+Falls von der Anschlussbelegung abgewichen wird, muss die geänderte Belegung über das Webinterface angepasst werden.

docs/eggbot-ble-serial-protocol.md

@@ -0,0 +1,46 @@
+# EggBot BLE Serial Protocol
+
+## Scope
+This transport exposes the same EggBot command protocol as serial, but over BLE GATT.
+
+- Protocol commands and responses are unchanged.
+- Framing is unchanged (`\r` command terminator, `\r\n` response lines).
+
+## BLE GATT Profile
+- Device name: `EggDuino`
+- Service UUID: `6e400001-b5a3-f393-e0a9-e50e24dcca9e`
+- RX characteristic (host -> EggDuino): `6e400002-b5a3-f393-e0a9-e50e24dcca9e`
+  - Properties: `Write`, `Write Without Response`
+- TX characteristic (EggDuino -> host): `6e400003-b5a3-f393-e0a9-e50e24dcca9e`
+  - Properties: `Notify`, `Read`
+
+## Data Model
+- Host writes plain ASCII command bytes to RX.
+- Firmware parses bytes with the same EggBot command parser used for USB serial.
+- Firmware sends responses via TX notifications.
+- Long responses are segmented into BLE-sized notification chunks; host must reassemble by bytes and parse lines by `\r\n`.
+
+## Compatibility Rules
+- A BLE client must send commands exactly as serial hosts do.
+- Each command must end with `\r`.
+- Data-returning commands (`QP`, `QB`, `QN`, `QL`) return a value line before final status (`OK\r\n`).
+- Unknown/invalid command format returns `unknown CMD\r\n`.
+
+## Example BLE Transactions
+Version query:
+- Write RX: `v\r`
+- Notify TX: `EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a\r\n`
+
+Move command:
+- Write RX: `SM,100,0,200\r`
+- Notify TX: `OK\r\n`
+
+Query node count:
+- Write RX: `QN\r`
+- Notify TX: `<number>\r\n`
+- Notify TX: `OK\r\n`
+
+## Operational Notes
+- BLE receive bytes are queued and parsed in the main firmware loop.
+- If the BLE RX queue overruns, excess bytes are dropped and a log entry is generated.
+- BLE and USB serial can coexist; each command response is routed to the transport that received that command.

docs/eggbot-serial-protocol.md

@@ -0,0 +1,53 @@
+# EggBot Serial Protocol (USB/UART)
+
+## Scope
+This firmware emulates the EggBot/EBB command protocol over serial transport.
+
+- Transport: USB CDC/UART (`115200 8N1`)
+- Command separator: `,`
+- Command terminator: carriage return (`\r`, ASCII 0x0D)
+- Response terminator: carriage return + newline (`\r\n`)
+
+## Handshake and Generic Responses
+- Version query: `v\r`
+- Version response: `EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a\r\n`
+- Success response: `OK\r\n`
+- Error response: `unknown CMD\r\n`
+
+## Implemented Commands
+All commands are case-sensitive and comma-delimited.
+
+- `EM,<mode>[,<ignored>]`
+- `SC,<id>,<value>`
+- `SP,<penState>[,<delayMs>]`
+- `SM,<durationMs>,<penSteps>,<rotSteps>`
+- `SE` (ack-only placeholder)
+- `TP[,<delayMs>]`
+- `PO` (ack-only placeholder)
+- `NI`
+- `ND`
+- `SN,<nodeCount>`
+- `QN`
+- `SL,<layer>`
+- `QL`
+- `QP`
+- `QB`
+
+## Command Behavior Notes
+- `SM`: firmware blocks until previous move completes, sends `OK`, then runs the requested move.
+- `SP` and `TP`: support optional delay argument in milliseconds.
+- `QP`: returns pen state line (`1` for pen up, `0` for pen down), then `OK`.
+- `QB`: returns button state (`0` or `1`), then `OK`; internal button latch is reset after query.
+- `QN`, `QL`: return numeric line first, then `OK`.
+- `SC` supports these IDs:
+  - `4`: set pen-down servo position (EBB value to servo-mapped value)
+  - `5`: set pen-up servo position
+  - `6`, `7`: accepted, ignored, and acknowledged
+  - `11`: set servo rate up
+  - `12`: set servo rate down
+
+## Timing/Parsing Requirements for Hosts
+- Always terminate each command with `\r`.
+- Do not rely on `\n` as a command terminator.
+- Read until `OK\r\n` (or `unknown CMD\r\n`) to complete command transactions.
+- For commands that return data (`QP`, `QB`, `QN`, `QL`), read one data line plus the final status line.

docs/eggbot-wifi-serial-protocol.md

@@ -0,0 +1,45 @@
+# EggBot WiFi Serial Protocol
+
+## Scope
+This transport exposes the same EggBot command protocol as serial, but over WiFi/WebSocket.
+
+- Protocol commands and responses are unchanged.
+- Framing is unchanged (`\r` command terminator, `\r\n` response lines).
+
+## Transport Profile
+- Protocol endpoint: `ws://<eggs-esp32-ip>:1337/`
+- WebSocket message type: text or binary frames accepted
+- Payload: ASCII command bytes
+
+## Data Model
+- Host writes command bytes to the WebSocket.
+- Firmware parses incoming bytes with the same EggBot parser used for USB serial and BLE.
+- Firmware sends responses as WebSocket text messages.
+- Hosts must treat inbound data as a stream and parse lines by `\r\n`.
+
+## Compatibility Rules
+- A WiFi client must send commands exactly as serial hosts do.
+- Each command must end with `\r`.
+- Data-returning commands (`QP`, `QB`, `QN`, `QL`) return a value line before final status (`OK\r\n`).
+- Unknown/invalid command format returns `unknown CMD\r\n`.
+
+## Example WiFi Transactions
+Version query:
+- Send: `v\r`
+- Receive: `EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a\r\n`
+
+Move command:
+- Send: `SM,100,0,200\r`
+- Receive: `OK\r\n`
+
+Query layer:
+- Send: `QL\r`
+- Receive: `<layer>\r\n`
+- Receive: `OK\r\n`
+
+## Operational Notes
+- The WiFi protocol endpoint is started only when ESP32 station WiFi is connected.
+- Incoming WiFi bytes are queued and parsed in the main loop.
+- If the WiFi RX queue overruns, excess bytes are dropped and a log entry is generated.
+- WiFi transport is single active client: first connected sender is accepted until disconnect.
+- USB serial, BLE, and WiFi can coexist; responses are routed to the transport that received each command.

docs/examples/eggbot-ble-client.mjs

@@ -0,0 +1,185 @@
+const SERVICE_UUID = '6e400001-b5a3-f393-e0a9-e50e24dcca9e';
+const RX_UUID = '6e400002-b5a3-f393-e0a9-e50e24dcca9e';
+const TX_UUID = '6e400003-b5a3-f393-e0a9-e50e24dcca9e';
+
+const encoder = new TextEncoder();
+const decoder = new TextDecoder();
+
+let device = null;
+let server = null;
+let rxCharacteristic = null;
+let txCharacteristic = null;
+let lineBuffer = '';
+let commandQueue = Promise.resolve();
+
+const lineListeners = new Set();
+
+function emitLine(line) {
+  for (const listener of lineListeners) {
+    listener(line);
+  }
+}
+
+function handleNotification(event) {
+  const dataView = event.target.value;
+  const chunk = decoder.decode(dataView, { stream: true });
+  lineBuffer += chunk;
+
+  while (true) {
+    const delimiterIndex = lineBuffer.indexOf('\r\n');
+    if (delimiterIndex < 0) {
+      break;
+    }
+
+    const line = lineBuffer.slice(0, delimiterIndex);
+    lineBuffer = lineBuffer.slice(delimiterIndex + 2);
+    emitLine(line);
+  }
+}
+
+function handleDisconnected() {
+  server = null;
+  rxCharacteristic = null;
+  if (txCharacteristic) {
+    txCharacteristic.removeEventListener('characteristicvaluechanged', handleNotification);
+  }
+  txCharacteristic = null;
+}
+
+async function writeToRxCharacteristic(payloadBytes) {
+  if (!rxCharacteristic) {
+    throw new Error('EggDuino is not connected');
+  }
+
+  if (typeof rxCharacteristic.writeValueWithoutResponse === 'function') {
+    await rxCharacteristic.writeValueWithoutResponse(payloadBytes);
+    return;
+  }
+
+  if (typeof rxCharacteristic.writeValueWithResponse === 'function') {
+    await rxCharacteristic.writeValueWithResponse(payloadBytes);
+    return;
+  }
+
+  await rxCharacteristic.writeValue(payloadBytes);
+}
+
+function normalizeCommand(command) {
+  return command.endsWith('\r') ? command : `${command}\r`;
+}
+
+function enqueueCommand(fn) {
+  const run = commandQueue.then(fn, fn);
+  commandQueue = run.catch(() => {});
+  return run;
+}
+
+export async function connectEggDuino() {
+  if (server?.connected && rxCharacteristic && txCharacteristic) {
+    return;
+  }
+
+  try {
+    device = await navigator.bluetooth.requestDevice({
+      filters: [{ services: [SERVICE_UUID] }],
+      optionalServices: [SERVICE_UUID],
+    });
+  } catch (error) {
+    throw new Error(`BLE request failed: ${error.message}`);
+  }
+
+  device.addEventListener('gattserverdisconnected', handleDisconnected);
+
+  try {
+    server = await device.gatt.connect();
+  } catch (error) {
+    throw new Error(`BLE gatt connect failed: ${error.message}`);
+  }
+
+  let service;
+  try {
+    service = await server.getPrimaryService(SERVICE_UUID);
+  } catch (error) {
+    throw new Error(`BLE service lookup failed: ${error.message}`);
+  }
+
+  try {
+    rxCharacteristic = await service.getCharacteristic(RX_UUID);
+    txCharacteristic = await service.getCharacteristic(TX_UUID);
+  } catch (error) {
+    throw new Error(`BLE characteristic lookup failed: ${error.message}`);
+  }
+
+  try {
+    await txCharacteristic.startNotifications();
+    txCharacteristic.addEventListener('characteristicvaluechanged', handleNotification);
+  } catch (error) {
+    throw new Error(`BLE notifications setup failed: ${error.message}`);
+  }
+}
+
+export function disconnectEggDuino() {
+  if (!device) {
+    return;
+  }
+
+  if (txCharacteristic) {
+    txCharacteristic.removeEventListener('characteristicvaluechanged', handleNotification);
+  }
+
+  if (device.gatt?.connected) {
+    device.gatt.disconnect();
+  }
+
+  handleDisconnected();
+}
+
+export async function sendEggBotCommand(command) {
+  const normalized = normalizeCommand(command);
+  await writeToRxCharacteristic(encoder.encode(normalized));
+}
+
+export async function sendEggBotCommandExpectOk(command, timeoutMs = 2000) {
+  return enqueueCommand(() => new Promise(async (resolve, reject) => {
+    const collectedLines = [];
+
+    const timeout = setTimeout(() => {
+      lineListeners.delete(onResponseLine);
+      reject(new Error('EggBot response timeout'));
+    }, timeoutMs);
+
+    const onResponseLine = (line) => {
+      collectedLines.push(line);
+
+      if (line === 'OK') {
+        clearTimeout(timeout);
+        lineListeners.delete(onResponseLine);
+        resolve(collectedLines.slice(0, -1));
+      }
+
+      if (line === 'unknown CMD') {
+        clearTimeout(timeout);
+        lineListeners.delete(onResponseLine);
+        reject(new Error(`EggBot error: ${collectedLines.join(' | ')}`));
+      }
+    };
+
+    lineListeners.add(onResponseLine);
+
+    try {
+      await sendEggBotCommand(command);
+    } catch (error) {
+      clearTimeout(timeout);
+      lineListeners.delete(onResponseLine);
+      reject(error);
+    }
+  }));
+}
+
+export function onLine(callback) {
+  lineListeners.add(callback);
+}
+
+export function offLine(callback) {
+  lineListeners.delete(callback);
+}

docs/examples/eggbot-wifi-client.mjs

@@ -0,0 +1,183 @@
+const decoder = new TextDecoder();
+
+let socket = null;
+let lineBuffer = '';
+let commandQueue = Promise.resolve();
+
+const lineListeners = new Set();
+
+function emitLine(line) {
+  for (const listener of lineListeners) {
+    listener(line);
+  }
+}
+
+function parseIncomingChunk(chunk) {
+  lineBuffer += chunk;
+
+  while (true) {
+    const delimiterIndex = lineBuffer.indexOf('\r\n');
+    if (delimiterIndex < 0) {
+      break;
+    }
+
+    const line = lineBuffer.slice(0, delimiterIndex);
+    lineBuffer = lineBuffer.slice(delimiterIndex + 2);
+    emitLine(line);
+  }
+}
+
+function handleSocketMessage(event) {
+  if (typeof event.data === 'string') {
+    parseIncomingChunk(event.data);
+    return;
+  }
+
+  if (event.data instanceof ArrayBuffer) {
+    parseIncomingChunk(decoder.decode(event.data));
+  }
+}
+
+function normalizeCommand(command) {
+  return command.endsWith('\r') ? command : `${command}\r`;
+}
+
+function enqueueCommand(fn) {
+  const run = commandQueue.then(fn, fn);
+  commandQueue = run.catch(() => {});
+  return run;
+}
+
+function ensureSocketReady() {
+  if (!socket || socket.readyState !== WebSocket.OPEN) {
+    throw new Error('EggDuino WiFi socket is not connected');
+  }
+}
+
+function buildSocketUrl(options) {
+  if (options.url) {
+    return options.url;
+  }
+
+  const host = options.host;
+  if (!host) {
+    throw new Error('Missing EggDuino host');
+  }
+
+  const secure = options.secure === true;
+  const protocol = secure ? 'wss' : 'ws';
+  const port = Number(options.port ?? 1337);
+  const path = options.path ?? '/';
+
+  return `${protocol}://${host}:${port}${path}`;
+}
+
+export async function connectEggDuinoWifi(options = {}) {
+  if (socket && socket.readyState === WebSocket.OPEN) {
+    return;
+  }
+
+  if (socket && socket.readyState === WebSocket.CONNECTING) {
+    await new Promise((resolve, reject) => {
+      const onOpen = () => {
+        socket.removeEventListener('error', onError);
+        resolve();
+      };
+      const onError = () => {
+        socket.removeEventListener('open', onOpen);
+        reject(new Error('EggDuino WiFi socket failed while connecting'));
+      };
+      socket.addEventListener('open', onOpen, { once: true });
+      socket.addEventListener('error', onError, { once: true });
+    });
+    return;
+  }
+
+  const url = buildSocketUrl(options);
+  socket = new WebSocket(url);
+  socket.binaryType = 'arraybuffer';
+
+  socket.addEventListener('message', handleSocketMessage);
+  socket.addEventListener('close', () => {
+    socket = null;
+  });
+
+  await new Promise((resolve, reject) => {
+    const onOpen = () => {
+      socket.removeEventListener('error', onError);
+      resolve();
+    };
+
+    const onError = () => {
+      socket.removeEventListener('open', onOpen);
+      socket?.close();
+      socket = null;
+      reject(new Error(`EggDuino WiFi socket connection failed: ${url}`));
+    };
+
+    socket.addEventListener('open', onOpen, { once: true });
+    socket.addEventListener('error', onError, { once: true });
+  });
+}
+
+export function disconnectEggDuinoWifi() {
+  if (!socket) {
+    return;
+  }
+
+  socket.removeEventListener('message', handleSocketMessage);
+  if (socket.readyState === WebSocket.OPEN || socket.readyState === WebSocket.CONNECTING) {
+    socket.close();
+  }
+  socket = null;
+}
+
+export async function sendEggBotCommand(command) {
+  ensureSocketReady();
+  socket.send(normalizeCommand(command));
+}
+
+export async function sendEggBotCommandExpectOk(command, timeoutMs = 2000) {
+  return enqueueCommand(() => new Promise(async (resolve, reject) => {
+    const collectedLines = [];
+
+    const timeout = setTimeout(() => {
+      lineListeners.delete(onResponseLine);
+      reject(new Error('EggBot response timeout'));
+    }, timeoutMs);
+
+    const onResponseLine = (line) => {
+      collectedLines.push(line);
+
+      if (line === 'OK') {
+        clearTimeout(timeout);
+        lineListeners.delete(onResponseLine);
+        resolve(collectedLines.slice(0, -1));
+      }
+
+      if (line === 'unknown CMD') {
+        clearTimeout(timeout);
+        lineListeners.delete(onResponseLine);
+        reject(new Error(`EggBot error: ${collectedLines.join(' | ')}`));
+      }
+    };
+
+    lineListeners.add(onResponseLine);
+
+    try {
+      await sendEggBotCommand(command);
+    } catch (error) {
+      clearTimeout(timeout);
+      lineListeners.delete(onResponseLine);
+      reject(error);
+    }
+  }));
+}
+
+export function onLine(callback) {
+  lineListeners.add(callback);
+}
+
+export function offLine(callback) {
+  lineListeners.delete(callback);
+}

firmware/manifest.json

@@ -0,0 +1,28 @@
+{
+    "name": "EggDuino ESP32 Firmware",
+    "version": "1.6a",
+    "new_install_prompt_erase": true,
+    "builds": [
+        {
+            "chipFamily": "ESP32",
+            "parts": [
+                {
+                    "path": "bootloader.bin",
+                    "offset": 4096
+                },
+                {
+                    "path": "partitions.bin",
+                    "offset": 32768
+                },
+                {
+                    "path": "boot_app0.bin",
+                    "offset": 57344
+                },
+                {
+                    "path": "firmware.bin",
+                    "offset": 65536
+                }
+            ]
+        }
+    ]
+}

include/ArduinoEsp32Compat.h

@@ -0,0 +1,14 @@
+#pragma once
+
+// Arduino-ESP32 1.0.6 does not define these version macros, but some newer
+// libraries use them to select legacy-compatible code paths.
+#ifndef ESP_ARDUINO_VERSION
+#define EGGDUINO_LEGACY_ARDUINO_ESP32 1
+#define ESP_ARDUINO_VERSION 0
+#else
+#define EGGDUINO_LEGACY_ARDUINO_ESP32 0
+#endif
+
+#ifndef ESP_ARDUINO_VERSION_VAL
+#define ESP_ARDUINO_VERSION_VAL(major, minor, patch) (((major) * 10000) + ((minor) * 100) + (patch))
+#endif

include/EggDuino.h

@@ -0,0 +1,179 @@
+#ifndef EGGDUINO_H
+#define EGGDUINO_H
+
+#include <Arduino.h>
+#define SUPPRESS_HPP_WARNING
+#include <ServoEasing.h>
+#ifdef ESP32
+#include <WiFi.h>
+#include <WebServer.h>
+#include <SPIFFS.h>
+#endif
+
+#include <FastAccelStepper.h>
+#include "SerialCommand.h"
+#include "button.h"
+
+#ifdef ESP32
+
+// Rotational Stepper
+static const int kDefaultRotStepPin = 25;
+static const int kDefaultRotDirPin = 27;
+static const int kDefaultRotEnablePin = 12;
+static const int kDefaultRotMicrostep = 32;
+
+// Pen Stepper
+static const int kDefaultPenStepPin = 25;
+static const int kDefaultPenDirPin = 16;
+static const int kDefaultPenEnablePin = 12;
+static const int kDefaultPenMicrostep = 32;
+
+// Servo Pin
+static const int kDefaultServoPin = 17;
+
+
+#else
+
+// Rotational Stepper
+static const int kDefaultRotStepPin = 2;
+static const int kDefaultRotDirPin = 5;
+static const int kDefaultRotEnablePin = 8;
+#define rotMicrostep 16
+static const int kDefaultRotMicrostep = rotMicrostep;
+
+// Pen Stepper
+static const int kDefaultPenStepPin = 3;
+static const int kDefaultPenDirPin = 6;
+static const int kDefaultPenEnablePin = 8;
+#define penMicrostep 16
+static const int kDefaultPenMicrostep = penMicrostep;
+
+static const int kDefaultServoPin = 4;
+
+
+#endif
+
+struct ConfigParameter {
+	const char *type;
+	const char *key;
+	void *value;
+	String description;
+	int defaultValue;
+	const char *defaultText;
+	bool secret;
+};
+
+extern FastAccelStepperEngine g_stepEngine;
+extern FastAccelStepper *g_pStepperRotate;
+extern FastAccelStepper *g_pStepperPen;
+
+extern ServoEasing penServo;
+extern SerialCommand SCmd;
+#ifdef ESP32
+extern SerialCommand g_BLECmd;
+extern SerialCommand g_WifiCmd;
+#endif
+
+extern int g_iPenUpPos;
+extern int g_iPenDownPos;
+extern int g_iServoRateUp;
+extern int g_iServoRateDown;
+extern long g_iRotStepError;
+extern long g_iPenStepError;
+extern int g_iPenState;
+extern uint32_t g_uiNodeCount;
+extern unsigned int g_uiLayer;
+extern boolean g_bPrgButtonState;
+extern float fROT_STEP_CORRECTION;
+extern float fPEN_STEP_CORRECTION;
+extern boolean g_bMotorsEnabled;
+extern int g_iRotDirPin;
+extern int g_iRotEnablePin;
+extern int g_iRotStepPin;
+extern int g_iPenStepPin;
+extern int g_iPenDirPin;
+extern int g_iPenEnablePin;
+extern int g_iServoPin;
+extern int g_iRotMicrostep;
+extern int g_iPenMicrostep;
+extern int g_iMaxAcclSpeed;
+extern String g_sHostname;
+extern String g_sWifiSsid;
+extern String g_sWifiPassword;
+extern String g_strConnectionState;
+
+enum ProtocolTransport {
+	PROTOCOL_TRANSPORT_SERIAL = 0,
+	PROTOCOL_TRANSPORT_BLE = 1,
+	PROTOCOL_TRANSPORT_WIFI = 2,
+};
+
+extern ConfigParameter configParameters[];
+extern const size_t configParameterCount;
+
+void makeComInterface();
+void setActiveProtocolContext(SerialCommand *parser, ProtocolTransport transport);
+char *nextCommandArg();
+void protocolWrite(const char *message);
+void protocolWrite(const String &message);
+void initHardware();
+void moveOneStep();
+void moveToDestination();
+void sendAck();
+void sendError();
+void motorsOff();
+void motorsOn();
+void toggleMotors();
+void doTogglePen();
+void setprgButtonState();
+bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB);
+void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB);
+void storePenUpPosInEE();
+void storePenDownPosInEE();
+void updateStepCorrectionFactors();
+void movePenServoTo(int targetPos);
+
+bool initConfigStore();
+bool loadConfigFromFile();
+bool saveConfigToFile();
+String buildConfigJson();
+bool applyConfigJson(const String &payload, String &errorMessage);
+void startWebInterface();
+void handleWebInterface();
+#ifdef ESP32
+void startBleInterface();
+void handleBleInterface();
+bool bleProtocolWrite(const char *message);
+void buildDeviceName(char *nameBuffer, size_t bufferSize);
+void startWifiProtocolInterface();
+void handleWifiProtocolInterface();
+bool wifiProtocolWrite(const char *message);
+#else
+inline void startBleInterface() {}
+inline void handleBleInterface() {}
+inline bool bleProtocolWrite(const char *message)
+{
+	(void)message;
+	return false;
+}
+inline void buildDeviceName(char *nameBuffer, size_t bufferSize)
+{
+	(void)nameBuffer;
+	(void)bufferSize;
+}
+inline void startWifiProtocolInterface() {}
+inline void handleWifiProtocolInterface() {}
+inline bool wifiProtocolWrite(const char *message)
+{
+	(void)message;
+	return false;
+}
+#endif
+void Log(const String &message);
+void Log(const char *message);
+String buildLogsJson(uint32_t sinceSeq);
+void captureIncomingPrintLine(const char *line, ProtocolTransport transport);
+String buildIncomingPrintLogText();
+void clearIncomingPrintLog();
+
+#endif

include/button.h

@@ -29,7 +29,7 @@ private:
 	
 public:
 	
-	Button(byte p, ActionCb a): debounce(0), state(1), lastState(1), action(a), pin(p) {
+	Button(byte p, ActionCb a): debounce(0), state(1), lastState(1), pin(p), action(a) {
 		pinMode(pin, INPUT_PULLUP);
 	}
 
@@ -56,4 +56,3 @@ public:
 }; //button
 
 #endif //__BUTTON_H__
-

include/motion_planner.h

@@ -0,0 +1,51 @@
+#include <Arduino.h>
+#include <FastAccelStepper.h>
+
+class XYMotionPlanner {
+public:
+  XYMotionPlanner(FastAccelStepper* stepperX, FastAccelStepper* stepperY);
+
+  // Basisparameter der "dominanten" Achse
+  void setBaseLimits(uint32_t maxSpeedHz, uint32_t maxAccelStepsPerS2);
+
+  // Minimale Werte vermeiden, dass eine kurze Achse mit 0 endet
+  void setMinimums(uint32_t minSpeedHz, uint32_t minAccelStepsPerS2);
+
+  // Aktuelle Positionen der Planner-Sicht setzen, z.B. nach Homing
+  void setCurrentPosition(int32_t x, int32_t y);
+
+  int32_t currentX() const;
+  int32_t currentY() const;
+
+  bool isRunning() const;
+
+  // Optional blockierend warten
+  void waitUntilFinished();
+
+  // Startet eine koordinierte lineare P2P-Bewegung
+  // Rückgabe false = nichts zu tun oder ungültig
+  bool moveTo(int32_t targetX, int32_t targetY);
+
+  // Convenience: relative Bewegung
+  bool moveBy(int32_t deltaX, int32_t deltaY);
+
+  // Muss regelmäßig aufgerufen werden, wenn du die Planner-Position
+  // nach abgeschlossener Bewegung sauber nachführen willst
+  void update();
+
+private:
+  FastAccelStepper* m_x = nullptr;
+  FastAccelStepper* m_y = nullptr;
+
+  int32_t m_currentX = 0;
+  int32_t m_currentY = 0;
+  int32_t m_targetX = 0;
+  int32_t m_targetY = 0;
+
+  uint32_t m_baseSpeedHz = 2000;
+  uint32_t m_baseAccel = 4000;
+  uint32_t m_minSpeedHz = 1;
+  uint32_t m_minAccel = 1;
+
+  static uint32_t scaledValue(uint32_t base, float scale, uint32_t distance);
+};

inkscape/README.md

@@ -0,0 +1,5 @@
+# Inkscape
+Das Verzeichnis ernthält die funktionierenden AxiDraw Plugins für Inkscape. Nach der Installation müssen allerdings noch zwei Datei gepatched werden.
+1. Installationsort des Inkscape Plugins öffnen. Diese findet man indem man Inkscape öffnet und in Bearbeiten->Einstellung unter System den Eintrag Benutzererweiterungen sucht.
+2. Im Ordner die Datei eggbot.py durch die im Ordner Patch enthaltene Datei ersetzen.
+3. Im Ordner des Plugins unter axidraw_deps/plotink die Datei ebb_serial.py ersetzen.

inkscape/killegg.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+# killegg.sh
+# Simple helper script to terminate any running instance of the Python program "eggbot.py" which is started by inkscape.
+# It searches for the process by name and sends a termination signal.
+
+PROCESS="eggbot.py"
+
+PIDS=$(pgrep -f "$PROCESS")
+
+if [ -z "$PIDS" ]; then
+    echo "Kein laufender Prozess für $PROCESS gefunden."
+else
+    echo "Beende Prozess(e): $PIDS"
+    kill $PIDS
+fi

inkscape/linux/readme.md

@@ -0,0 +1,6 @@
+# Inkscape Plugin
+This directory contains the plugin that fits to the EggBot firmware.
+Use the ebb_serial.py file to patch the plugin so that all /dev/ttyUSBx devices can be used.
+Currently only the first found tty USB device will be used.
+
+If plugin doesn't work because of missing python dependencies, just install them with apt or similar system tool.

inkscape/patch/ebb_serial.py

@@ -0,0 +1,457 @@
+# coding=utf-8
+'''
+ebb_serial.py
+Serial connection utilities for EiBotBoard
+https://github.com/evil-mad/plotink
+
+Intended to provide some common interfaces that can be used by
+EggBot, WaterColorBot, AxiDraw, and similar machines.
+
+See below for version information
+
+Thanks to Shel Michaels for bug fixes and helpful suggestions.
+
+
+The MIT License (MIT)
+
+Copyright (c) 2022 Windell H. Oskay, Evil Mad Scientist Laboratories
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+'''
+
+import logging
+from packaging.version import parse
+
+from .plot_utils_import import from_dependency_import
+inkex = from_dependency_import('ink_extensions.inkex')
+serial = from_dependency_import('serial')
+from serial.tools.list_ports import comports \
+    #pylint: disable=wrong-import-position, wrong-import-order
+
+logger = logging.getLogger(__name__)
+
+def version():
+    '''Version number for this document'''
+    return "0.19"   # Dated 2022-10-05
+
+
+def findPort():
+    '''
+    Find first available EiBotBoard by searching USB ports. Return serial port object.
+    '''
+    try:
+        com_ports_list = list(comports())
+    except TypeError:
+        return None
+    ebb_port = None
+    for port in com_ports_list:
+        if port[0].startswith("/dev/ttyUSB"):
+            ebb_port = port[0]  # Success; EBB found by name match.
+            break  # stop searching-- we are done.
+        elif port[0].startswith("COM"):
+            ebb_port = port[0]  # Success; EBB found by name match.
+            break  # stop searching-- we are done.
+    for port in com_ports_list:
+        if port[1].startswith("EiBotBoard"):
+            ebb_port = port[0]  # Success; EBB found by name match.
+            break  # stop searching-- we are done.
+    if ebb_port is None:
+        for port in com_ports_list:
+            if port[2].startswith("USB VID:PID=04D8:FD92"):
+                ebb_port = port[0]  # Success; EBB found by VID/PID match.
+                break  # stop searching-- we are done.
+    return ebb_port
+
+
+def find_named_ebb(port_name):
+    '''
+    Find a specific EiBotBoard identified by a string giving either:
+           The enumerated serial port, or
+           An EBB "Name tag"
+    Names should be 3-16 characters long. Comparisons are not case sensitive.
+    (Name tags may assigned with the ST command on firmware 2.5.5 and later.)
+    If found:     Return serial port name (enumeration)
+    If not found, Return None
+    '''
+    if port_name is not None:
+        needle = 'SER=' + port_name     # pyserial 3
+        needle2 = 'SNR=' + port_name    # pyserial 2.7
+        needle3 = '(' + port_name + ')' # e.g., "(COM4)"
+
+        needle = needle.lower()
+        needle2 = needle2.lower()
+        needle3 = needle3.lower()
+        plower = port_name.lower()
+
+        try:
+            com_ports_list = list(comports())
+        except TypeError:
+            return None
+
+        for port in com_ports_list:
+            p_0 = port[0].lower()
+            p_1 = port[1].lower()
+            p_2 = port[2].lower()
+
+            if needle in p_2:
+                return port[0]  # Success; EBB found by name match.
+            if needle2 in p_2:
+                return port[0]  # Success; EBB found by name match.
+            if needle3 in p_1:
+                return port[0]  # Success; EBB found by port match.
+
+            p_1 = p_1[11:]
+            if p_1.startswith(plower):
+                return port[0]  # Success; EBB found by name match.
+            if p_0.startswith(plower):
+                return port[0]  # Success; EBB found by port match.
+
+            needle.replace(" ", "_") # SN on Windows has underscores, not spaces.
+            if needle in p_2:
+                return port[0]  # Success; EBB found by port match.
+
+            needle2.replace(" ", "_") # SN on Windows has underscores, not spaces.
+            if needle2 in p_2:
+                return port[0]  # Success; EBB found by port match.
+    return None
+
+
+def query_nickname(port_name, verbose=True):
+    '''
+    Query the EBB nickname and report it.
+    If verbose is True or omitted, the result will be human readable.
+    A short version is returned if verbose is False.
+    Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#QT
+    '''
+    if port_name is not None:
+        version_status = min_version(port_name, "2.5.5")
+
+        if version_status:
+            raw_string = (query(port_name, 'QT\r'))
+            if raw_string.isspace():
+                if verbose:
+                    return "This AxiDraw does not have a nickname assigned."
+                return None
+            if verbose:
+                return "AxiDraw nickname: " + raw_string
+            return str(raw_string).strip()
+        if version_status is False:
+            if verbose:
+                return "AxiDraw naming requires firmware version 2.5.5 or higher."
+    return None
+
+
+def write_nickname(port_name, nickname):
+    '''
+    Write the EBB nickname.
+    Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#ST
+    '''
+    if port_name is not None:
+        version_status = min_version(port_name, "2.5.5")
+
+        if version_status:
+            try:
+                cmd = 'ST,' + nickname + '\r'
+                command(port_name,cmd)
+                return True
+            except:
+                return False
+    return None
+
+
+def reboot(port_name):
+    '''
+    Reboot the EBB, as though it were just powered on.
+    Requires firmware version 2.5.5 or newer. http://evil-mad.github.io/EggBot/ebb.html#RB
+    '''
+    if port_name is not None:
+        version_status = min_version(port_name, "2.5.5")
+        if version_status:
+            try:
+                command(port_name,'RB\r')
+            except:
+                pass
+
+
+def list_port_info():
+    '''Find and return a list of all USB devices and their information.'''
+    try:
+        com_ports_list = list(comports())
+    except TypeError:
+        return None
+
+    port_info_list = []
+    for port in com_ports_list:
+        port_info_list.append(port[0]) # port name
+        port_info_list.append(port[1]) # Identifier
+        port_info_list.append(port[2]) # VID/PID
+    if port_info_list:
+        return port_info_list
+    return None
+
+
+def listEBBports():
+    '''Find and return a list of all EiBotBoard units connected via USB port.'''
+    
+    try:
+        com_ports_list = list(comports())
+    except TypeError:
+        return None
+    ebb_ports_list = []
+    for port in com_ports_list:
+        port_has_ebb = False
+        if port[0].startswith("/dev/ttyUSB"):
+            port_has_ebb = True
+        elif port[0].startswith("COM"):
+            port_has_ebb = True
+        elif port[1].startswith("EiBotBoard"):
+            port_has_ebb = True
+        elif port[2].startswith("USB VID:PID=04D8:FD92"):
+            port_has_ebb = True
+        if port_has_ebb:
+            ebb_ports_list.append(port)
+    if ebb_ports_list:
+        return ebb_ports_list
+    return None
+
+
+def list_named_ebbs():
+    '''Return descriptive list of all EiBotBoard units'''
+    ebb_ports_list = listEBBports()
+    if not ebb_ports_list:
+        return None
+    ebb_names_list = []
+    for port in ebb_ports_list:
+        name_found = False
+        p_0 = port[0]
+        p_1 = port[1]
+        p_2 = port[2]
+        if p_1.startswith("EiBotBoard"):
+            temp_string = p_1[11:]
+            if temp_string:
+                if temp_string is not None:
+                    ebb_names_list.append(temp_string)
+                    name_found = True
+        if not name_found:
+            # Look for "SER=XXXX LOCAT" pattern,
+            #  typical of Pyserial 3 on Windows.
+            if 'SER=' in p_2 and ' LOCAT' in p_2:
+                index1 = p_2.find('SER=') + len('SER=')
+                index2 = p_2.find(' LOCAT', index1)
+                temp_string = p_2[index1:index2]
+                if len(temp_string) < 3:
+                    temp_string = None
+                if temp_string is not None:
+                    ebb_names_list.append(temp_string)
+                    name_found = True
+        if not name_found:
+            # Look for "...SNR=XXXX" pattern,
+            #  typical of Pyserial 2.7 on Windows
+            if 'SNR=' in p_2:
+                index1 = p_2.find('SNR=') + len('SNR=')
+                index2 = len(p_2)
+                temp_string = p_2[index1:index2]
+                if len(temp_string) < 3:
+                    temp_string = None
+                if temp_string is not None:
+                    ebb_names_list.append(temp_string)
+                    name_found = True
+        if not name_found:
+            ebb_names_list.append(p_0)
+    return ebb_names_list
+
+
+def testPort(port_name):
+    """
+    Open a given serial port, verify that it is an EiBotBoard,
+    and return a SerialPort object that we can reference later.
+
+    This routine only opens the port; it will need to be closed as well,
+    for example with closePort( port_name ).
+    You, who open the port, are responsible for closing it as well.
+    """
+    if port_name is not None:
+        try:
+            serial_port = serial.Serial(port_name, timeout=1.0, baudrate=115200)  # 1 second timeout!
+
+            serial_port.flushInput()  # deprecated function name;
+            # use serial_port.reset_input_buffer()
+            # if we can be sure that we have pySerial 3+.
+
+            serial_port.write('v\r'.encode('ascii'))
+            str_version = serial_port.readline()
+            if str_version and str_version.startswith("EBB".encode('ascii')):
+                return serial_port
+
+            serial_port.write('v\r'.encode('ascii'))
+            str_version = serial_port.readline()
+            if str_version and str_version.startswith("EBB".encode('ascii')):
+                return serial_port
+            serial_port.close()
+        except serial.SerialException as err:
+            logger.error("Error testing serial port `{}` connection".format(port_name))
+            logger.info("Error context:", exc_info=err)
+    return None
+
+
+def openPort():
+    '''
+    Find and open a port to a single attached EiBotBoard.
+    The first port located will be used.
+    '''
+    found_port = findPort()
+    serial_port = testPort(found_port)
+    if serial_port:
+        return serial_port
+    return None
+
+
+def open_named_port(port_name):
+    '''
+    Find and open a port to a single attached EiBotBoard, indicated by name.
+    The first port located will be used.
+    '''
+    found_port = find_named_ebb(port_name)
+    serial_port = testPort(found_port)
+    if serial_port:
+        return serial_port
+    return None
+
+
+def closePort(port_name):
+    '''Close the given serial port.'''
+    if port_name is not None:
+        try:
+            port_name.close()
+        except serial.SerialException:
+            pass
+
+
+def query(port_name, cmd, verbose=True):
+    '''General command to send a query to the EiBotBoard'''
+    if port_name is not None and cmd is not None:
+        response = ''
+        try:
+            port_name.write(cmd.encode('ascii'))
+            response = port_name.readline().decode('ascii')
+            n_retry_count = 0
+            while len(response) == 0 and n_retry_count < 100:
+                # get new response to replace null response if necessary
+                response = port_name.readline()
+                n_retry_count += 1
+            if cmd.split(",")[0].strip().lower() not in ["a", "i", "mr", "pi", "qm", "qg", "v"]:
+                # Most queries return an "OK" after the data requested.
+                # We skip this for those few queries that do not return an extra line.
+                unused_response = port_name.readline()  # read in extra blank/OK line
+                n_retry_count = 0
+                while len(unused_response) == 0 and n_retry_count < 100:
+                    # get new response to replace null response if necessary
+                    unused_response = port_name.readline()
+                    n_retry_count += 1
+        except (serial.SerialException, IOError, RuntimeError, OSError) as err:
+            if verbose:
+                logger.error("Error reading serial data")
+            else:
+                logger.info("Error reading serial data")
+            logger.info("Error context:", exc_info=err)
+
+        if 'Err:' in response:
+            error_msg = '\n'.join(('Unexpected response from EBB.',
+               '    Command: {0}'.format(cmd.strip()),
+               '    Response: {0}'.format(response.strip())))
+            if verbose:
+                logger.error(error_msg)
+            else:
+                logger.info(error_msg)
+        return response
+    return None
+
+
+def command(port_name, cmd, verbose=True):
+    '''General command to send a command to the EiBotBoard'''
+    if port_name is not None and cmd is not None:
+        try:
+            port_name.write(cmd.encode('ascii'))
+            response = port_name.readline().decode('ascii')
+            n_retry_count = 0
+            while len(response) == 0 and n_retry_count < 100:
+                # get new response to replace null response if necessary
+                response = port_name.readline().decode('ascii')
+                n_retry_count += 1
+            if response.strip().startswith("OK"):
+                # Debug option: indicate which command:
+                # inkex.errormsg( 'OK after command: ' + cmd )
+                pass
+            else:
+                if response:
+                    error_msg = '\n'.join(('Unexpected response from EBB.',
+                                           '    Command: {0}'.format(cmd.strip()),
+                                           '    Response: {0}'.format(response.strip())))
+                else:
+                    error_msg = 'EBB Serial Timeout after command: {0}'.format(cmd)
+                if verbose:
+                    logger.error(error_msg)
+                else:
+                    logger.info(error_msg)
+        except (serial.SerialException, IOError, RuntimeError, OSError) as err:
+            if cmd.strip().lower() not in ["rb"]: # Ignore error on reboot (RB) command
+                if verbose:
+                    logger.error('Failed after command: {0}'.format(cmd))
+                else:
+                    logger.info('Failed after command: {0}'.format(cmd))
+                logger.info("Error context:", exc_info=err)
+
+
+def bootload(port_name):
+    '''Enter bootloader mode. Do not try to read back data.'''
+    if port_name is not None:
+        try:
+            port_name.write('BL\r'.encode('ascii'))
+            return True
+        except:
+            return False
+    return None
+
+
+def min_version(port_name, version_string):
+    '''
+    Query the EBB firmware version for the EBB located at port_name.
+    Return True if the EBB firmware version is at least version_string.
+    Return False if the EBB firmware version is below version_string.
+    Return None if we are unable to determine True or False.
+    '''
+    if port_name is not None:
+        ebb_version_string = queryVersion(port_name)  # Full string, human readable
+        ebb_version_string = ebb_version_string.split("Firmware Version ", 1)
+
+        if len(ebb_version_string) > 1:
+            ebb_version_string = ebb_version_string[1]
+        else:
+            return None  # We haven't received a reasonable version number response.
+
+        ebb_version_string = ebb_version_string.strip()  # Stripped copy, for number comparisons
+        if parse(ebb_version_string) >= parse(version_string):
+            return True
+        return False
+    return None
+
+
+def queryVersion(port_name):
+    '''Query EBB Version String'''
+    return query(port_name, 'V\r', True)

lib/SerialCommand/src/SerialCommand.cpp

@@ -30,6 +30,7 @@ SerialCommand::SerialCommand()
   : commandList(NULL),
     commandCount(0),
     defaultHandler(NULL),
+    lineHandler(NULL),
     term('\r'),           // default terminator for commands, newline character
     last(NULL)
 {
@@ -64,6 +65,10 @@ void SerialCommand::setDefaultHandler(void (*function)(const char *)) {
   defaultHandler = function;
 }
 
+void SerialCommand::setLineHandler(LineHandler function) {
+  lineHandler = function;
+}
+
 
 /**
  * This checks the Serial stream for characters, and assembles them into a buffer.
@@ -71,58 +76,69 @@ void SerialCommand::setDefaultHandler(void (*function)(const char *)) {
  * buffer for a prefix command, and calls handlers setup by addCommand() member
  */
 void SerialCommand::readSerial() {
-  while (Serial.available() > 0) {
-    char inChar = Serial.read();   // Read single available character, there may be more waiting
+  readSerial(Serial);
+}
+
+void SerialCommand::readSerial(Stream &stream) {
+  while (stream.available() > 0) {
+    char inChar = stream.read(); // Read single available character, there may be more waiting
+    readChar(inChar);
+  }
+}
+
+void SerialCommand::readChar(char inChar) {
+  #ifdef SERIALCOMMAND_DEBUG
+    Serial.print(inChar); // Echo back to serial stream
+  #endif
+
+  if (inChar == term) { // Check for the terminator (default '\r') meaning end of command
     #ifdef SERIALCOMMAND_DEBUG
-      Serial.print(inChar);   // Echo back to serial stream
+      Serial.print("Received: ");
+      Serial.println(buffer);
     #endif
 
-    if (inChar == term) {     // Check for the terminator (default '\r') meaning end of command
-      #ifdef SERIALCOMMAND_DEBUG
-        Serial.print("Received: ");
-        Serial.println(buffer);
-      #endif
+    if ((lineHandler != NULL) && (bufPos > 0)) {
+      (*lineHandler)(buffer);
+    }
 
-      char *command = strtok_r(buffer, delim, &last);   // Search for command at start of buffer
-      if (command != NULL) {
-        boolean matched = false;
-        for (int i = 0; i < commandCount; i++) {
+    char *command = strtok_r(buffer, delim, &last); // Search for command at start of buffer
+    if (command != NULL) {
+      boolean matched = false;
+      for (int i = 0; i < commandCount; i++) {
+        #ifdef SERIALCOMMAND_DEBUG
+          Serial.print("Comparing [");
+          Serial.print(command);
+          Serial.print("] to [");
+          Serial.print(commandList[i].command);
+          Serial.println("]");
+        #endif
+
+        // Compare the found command against the list of known commands for a match
+        if (strncmp(command, commandList[i].command, SERIALCOMMAND_MAXCOMMANDLENGTH) == 0) {
           #ifdef SERIALCOMMAND_DEBUG
-            Serial.print("Comparing [");
-            Serial.print(command);
-            Serial.print("] to [");
-            Serial.print(commandList[i].command);
-            Serial.println("]");
+            Serial.print("Matched Command: ");
+            Serial.println(command);
           #endif
 
-          // Compare the found command against the list of known commands for a match
-          if (strncmp(command, commandList[i].command, SERIALCOMMAND_MAXCOMMANDLENGTH) == 0) {
-            #ifdef SERIALCOMMAND_DEBUG
-              Serial.print("Matched Command: ");
-              Serial.println(command);
-            #endif
-
-            // Execute the stored handler function for the command
-            (*commandList[i].function)();
-            matched = true;
-            break;
-          }
-        }
-        if (!matched && (defaultHandler != NULL)) {
-          (*defaultHandler)(command);
+          // Execute the stored handler function for the command
+          (*commandList[i].function)();
+          matched = true;
+          break;
         }
       }
-      clearBuffer();
+      if (!matched && (defaultHandler != NULL)) {
+        (*defaultHandler)(command);
+      }
     }
-    else if (isprint(inChar)) {     // Only printable characters into the buffer
-      if (bufPos < SERIALCOMMAND_BUFFER) {
-        buffer[bufPos++] = inChar;  // Put character into buffer
-        buffer[bufPos] = '\0';      // Null terminate
-      } else {
-        #ifdef SERIALCOMMAND_DEBUG
-          Serial.println("Line buffer is full - increase SERIALCOMMAND_BUFFER");
-        #endif
-      }
+    clearBuffer();
+  } else if (isprint(inChar)) { // Only printable characters into the buffer
+    if (bufPos < SERIALCOMMAND_BUFFER) {
+      buffer[bufPos++] = inChar; // Put character into buffer
+      buffer[bufPos] = '\0';     // Null terminate
+    } else {
+      #ifdef SERIALCOMMAND_DEBUG
+        Serial.println("Line buffer is full - increase SERIALCOMMAND_BUFFER");
+      #endif
     }
   }
 }

lib/SerialCommand/src/SerialCommand.h

@@ -44,11 +44,16 @@
 
 class SerialCommand {
   public:
+    typedef void (*LineHandler)(const char *);
+
     SerialCommand();      // Constructor
     void addCommand(const char *command, void(*function)());  // Add a command to the processing dictionary.
     void setDefaultHandler(void (*function)(const char *));   // A handler to call when no valid command received.
+    void setLineHandler(LineHandler function);                 // Optional handler called with each completed input line.
 
     void readSerial();    // Main entry point.
+    void readSerial(Stream &stream); // Reads commands from any Stream-compatible transport.
+    void readChar(char inChar);      // Feeds one incoming character into the parser.
     void clearBuffer();   // Clears the input buffer.
     char *next();         // Returns pointer to next token found in command buffer (for getting arguments to commands).
 
@@ -63,6 +68,7 @@ class SerialCommand {
 
     // Pointer to the default handler function
     void (*defaultHandler)(const char *);
+    LineHandler lineHandler;
 
     char delim[2]; // null-terminated list of character to be used as delimeters for tokenizing (default " ")
     char term;     // Character that signals end of command (default '\n')

platformio.ini

@@ -0,0 +1,52 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+default_envs = uno_linux
+extra_configs = platformio_override.ini
+
+[env]
+platform = platformio/espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200
+lib_deps =
+    arminjo/ServoEasing
+    madhephaestus/ESP32Servo@^3.0.6
+    bblanchon/ArduinoJson@^6.21.5
+    links2004/WebSockets@^2.6.1
+
+[env:uno_linux]
+upload_speed = 576000
+upload_port = /dev/ttyUSB*
+lib_deps =
+    ${env.lib_deps}
+    gin66/FastAccelStepper@^0.33.13
+    h2zero/NimBLE-Arduino@^2.3.6
+
+[env:uno_windows]
+extra_scripts = pre:scripts/patch_legacy_esp32_libs.py
+build_flags =
+    -DEGGDUINO_WINDOWS_BUILD_FIXES=1
+    -include $PROJECT_INCLUDE_DIR/ArduinoEsp32Compat.h
+monitor_port = COM*
+upload_port = COM8
+lib_deps =
+    ${env.lib_deps}
+    gin66/FastAccelStepper@0.30.15
+    h2zero/NimBLE-Arduino@2.2.3
+
+[env:uno_macos]
+monitor_port = /dev/cu.usb*
+upload_port = /dev/cu.usb*
+lib_deps =
+    ${env.lib_deps}
+    gin66/FastAccelStepper@^0.33.13
+    h2zero/NimBLE-Arduino@^2.3.6

platformio_override_example.ini

@@ -0,0 +1,5 @@
+# Copy file to platformio_override.ini and change default_envs to your needs.
+# In this example file it uses the mac configuration.
+
+[platformio]
+default_envs = uno_mac

scripts/check_config_web_stack_usage.sh

@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+cd "$(dirname "$0")/.."
+
+if rg -n '^[[:space:]]+StaticJsonDocument<kConfigJsonCapacity>[[:space:]]+[A-Za-z_][A-Za-z0-9_]*;' src/Config_Web.cpp; then
+	echo "Config_Web.cpp still allocates kConfigJsonCapacity-sized StaticJsonDocument on the stack" >&2
+	exit 1
+fi
+
+echo "Config_Web.cpp avoids stack-local kConfigJsonCapacity StaticJsonDocument allocations"

scripts/package_firmware.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+
+import json
+import re
+import shutil
+from pathlib import Path
+
+
+BUILD_ARTIFACTS = (
+    "bootloader.bin",
+    "partitions.bin",
+    "firmware.bin",
+    "firmware.elf",
+    "firmware.map",
+)
+
+MANIFEST_PARTS = (
+    {"path": "bootloader.bin", "offset": 4096},
+    {"path": "partitions.bin", "offset": 32768},
+    {"path": "boot_app0.bin", "offset": 57344},
+    {"path": "firmware.bin", "offset": 65536},
+)
+
+VERSION_PATTERN = re.compile(r'Eggduino-Firmware V([^"\\]+)')
+
+
+def extract_firmware_version(header_text: str) -> str:
+    match = VERSION_PATTERN.search(header_text)
+    if not match:
+        raise ValueError("Could not extract firmware version from include/EggDuino.h")
+    return match.group(1).strip()
+
+
+def build_manifest(version: str) -> dict:
+    return {
+        "name": "EggDuino ESP32 Firmware",
+        "version": version,
+        "new_install_prompt_erase": True,
+        "builds": [
+            {
+                "chipFamily": "ESP32",
+                "parts": list(MANIFEST_PARTS),
+            }
+        ],
+    }
+
+
+def package_bundle(build_dir: Path, boot_app0_path: Path, header_path: Path, output_dir: Path) -> None:
+    build_dir = Path(build_dir)
+    boot_app0_path = Path(boot_app0_path)
+    header_path = Path(header_path)
+    output_dir = Path(output_dir)
+
+    if output_dir.exists():
+        shutil.rmtree(output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    for artifact_name in BUILD_ARTIFACTS:
+        artifact_path = build_dir / artifact_name
+        if not artifact_path.is_file():
+            raise FileNotFoundError(f"Missing build artifact: {artifact_path}")
+        shutil.copy2(artifact_path, output_dir / artifact_name)
+
+    if not boot_app0_path.is_file():
+        raise FileNotFoundError(f"Missing boot_app0.bin: {boot_app0_path}")
+    shutil.copy2(boot_app0_path, output_dir / "boot_app0.bin")
+
+    version = extract_firmware_version(header_path.read_text(encoding="utf-8"))
+    manifest_path = output_dir / "manifest.json"
+    manifest_path.write_text(
+        json.dumps(build_manifest(version), indent=4) + "\n",
+        encoding="utf-8",
+    )
+
+
+def _get_boot_app0_path(env) -> Path:
+    framework_dir = env.PioPlatform().get_package_dir("framework-arduinoespressif32")
+    if not framework_dir:
+        raise FileNotFoundError("PlatformIO framework-arduinoespressif32 package is not installed")
+
+    boot_app0_path = Path(framework_dir) / "tools" / "partitions" / "boot_app0.bin"
+    if not boot_app0_path.is_file():
+        raise FileNotFoundError(f"Could not find boot_app0.bin in {boot_app0_path.parent}")
+    return boot_app0_path
+
+
+def _package_platformio_bundle(target, source, env) -> None:
+    del target, source
+    project_dir = Path(env.subst("$PROJECT_DIR"))
+    package_bundle(
+        build_dir=Path(env.subst("$BUILD_DIR")),
+        boot_app0_path=_get_boot_app0_path(env),
+        header_path=project_dir / "include" / "EggDuino.h",
+        output_dir=project_dir / "firmware",
+    )
+    print(f"Packaged firmware bundle to {project_dir / 'firmware'}")
+
+
+if "Import" in globals():
+    Import("env")
+    env.AddPostAction("$BUILD_DIR/${PROGNAME}.bin", _package_platformio_bundle)

scripts/patch_legacy_esp32_libs.py

@@ -0,0 +1,98 @@
+from pathlib import Path
+
+Import("env")
+
+
+def patch_nimble_address() -> None:
+    libdeps_dir = Path(env.subst("$PROJECT_LIBDEPS_DIR"))
+    env_name = env.subst("$PIOENV")
+    source_path = libdeps_dir / env_name / "NimBLE-Arduino" / "src" / "NimBLEAddress.cpp"
+
+    if not source_path.exists():
+        return
+
+    original = source_path.read_text(encoding="utf-8")
+    updated = original
+
+    include_old = '# include <algorithm>\n'
+    include_new = '# include <algorithm>\n# include <cstdlib>\n'
+    if include_old in updated and "# include <cstdlib>\n" not in updated:
+        updated = updated.replace(include_old, include_new, 1)
+
+    call_old = "        uint64_t address = std::stoull(mac, nullptr, 16);"
+    call_new = "        uint64_t address = strtoull(mac.c_str(), nullptr, 16);"
+    updated = updated.replace(call_old, call_new, 1)
+
+    if updated != original:
+        source_path.write_text(updated, encoding="utf-8")
+        print("Patched NimBLE-Arduino for legacy ESP32 toolchain compatibility")
+
+
+def patch_nimble_device() -> None:
+    libdeps_dir = Path(env.subst("$PROJECT_LIBDEPS_DIR"))
+    env_name = env.subst("$PIOENV")
+    source_path = libdeps_dir / env_name / "NimBLE-Arduino" / "src" / "NimBLEDevice.cpp"
+
+    if not source_path.exists():
+        return
+
+    original = source_path.read_text(encoding="utf-8")
+    updated = original
+
+    updated = updated.replace(
+        "    ble_sm_io pkey{.action = BLE_SM_IOACT_INPUT, .passkey = passkey};\n",
+        "    ble_sm_io pkey{};\n"
+        "    pkey.action = BLE_SM_IOACT_INPUT;\n"
+        "    pkey.passkey = passkey;\n",
+        1,
+    )
+    updated = updated.replace(
+        "    ble_sm_io pkey{.action = BLE_SM_IOACT_NUMCMP, .numcmp_accept = accept};\n",
+        "    ble_sm_io pkey{};\n"
+        "    pkey.action = BLE_SM_IOACT_NUMCMP;\n"
+        "    pkey.numcmp_accept = accept;\n",
+        1,
+    )
+
+    if updated != original:
+        source_path.write_text(updated, encoding="utf-8")
+        print("Patched NimBLEDevice.cpp for legacy ESP32 toolchain compatibility")
+
+
+def patch_websockets_client() -> None:
+    libdeps_dir = Path(env.subst("$PROJECT_LIBDEPS_DIR"))
+    env_name = env.subst("$PIOENV")
+    source_path = libdeps_dir / env_name / "WebSockets" / "src" / "WebSocketsClient.cpp"
+
+    if not source_path.exists():
+        return
+
+    original = source_path.read_text(encoding="utf-8")
+    updated = original
+
+    old = (
+        "#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 4)\n"
+        "                _client.ssl->setCACertBundle(_CA_bundle, _CA_bundle_size);\n"
+        "#else\n"
+        "                _client.ssl->setCACertBundle(_CA_bundle);\n"
+        "#endif\n"
+    )
+    new = (
+        "#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 4)\n"
+        "                _client.ssl->setCACertBundle(_CA_bundle, _CA_bundle_size);\n"
+        "#else\n"
+        "                // Arduino-ESP32 1.x has no CA bundle API; the project only uses\n"
+        "                // WebSocketsServer, so keep the client path buildable with insecure TLS.\n"
+        "                _client.ssl->setInsecure();\n"
+        "#endif\n"
+    )
+    updated = updated.replace(old, new, 1)
+
+    if updated != original:
+        source_path.write_text(updated, encoding="utf-8")
+        print("Patched WebSocketsClient.cpp for legacy ESP32 toolchain compatibility")
+
+
+patch_nimble_address()
+patch_nimble_device()
+patch_websockets_client()

src/BLE_Interface.cpp

@@ -0,0 +1,231 @@
+#include "EggDuino.h"
+
+#ifdef ESP32
+#include <NimBLEDevice.h>
+#include <string.h>
+
+namespace
+{
+constexpr char kBleDeviceNamePrefix[] = "EggBot_";
+constexpr char kBleServiceUuid[] = "6e400001-b5a3-f393-e0a9-e50e24dcca9e";
+constexpr char kBleRxCharUuid[] = "6e400002-b5a3-f393-e0a9-e50e24dcca9e";
+constexpr char kBleTxCharUuid[] = "6e400003-b5a3-f393-e0a9-e50e24dcca9e";
+
+constexpr size_t kBleRxQueueSize = 512;
+constexpr size_t kBleNotifyChunkSize = 20;
+
+NimBLEServer *g_pBleServer = NULL;
+NimBLECharacteristic *g_pBleTxCharacteristic = NULL;
+
+uint8_t g_bleRxQueue[kBleRxQueueSize];
+size_t g_bleRxHead = 0;
+size_t g_bleRxTail = 0;
+bool g_bleRxQueueOverflow = false;
+bool g_bleClientConnected = false;
+
+portMUX_TYPE g_bleQueueMux = portMUX_INITIALIZER_UNLOCKED;
+
+void logBleDiag(const String &message)
+{
+	Log(message);
+}
+
+bool queueBleByte(uint8_t value)
+{
+	bool queued = false;
+	portENTER_CRITICAL(&g_bleQueueMux);
+	const size_t nextHead = (g_bleRxHead + 1) % kBleRxQueueSize;
+	if (nextHead == g_bleRxTail)
+	{
+		g_bleRxQueueOverflow = true;
+	}
+	else
+	{
+		g_bleRxQueue[g_bleRxHead] = value;
+		g_bleRxHead = nextHead;
+		queued = true;
+	}
+	portEXIT_CRITICAL(&g_bleQueueMux);
+	return queued;
+}
+
+bool dequeueBleByte(uint8_t *value)
+{
+	bool hasData = false;
+	portENTER_CRITICAL(&g_bleQueueMux);
+	if (g_bleRxHead != g_bleRxTail)
+	{
+		*value = g_bleRxQueue[g_bleRxTail];
+		g_bleRxTail = (g_bleRxTail + 1) % kBleRxQueueSize;
+		hasData = true;
+	}
+	portEXIT_CRITICAL(&g_bleQueueMux);
+	return hasData;
+}
+
+class EggDuinoBleServerCallbacks : public NimBLEServerCallbacks
+{
+	void onConnect(NimBLEServer *pServer, NimBLEConnInfo &connInfo)
+	{
+		(void)pServer;
+		(void)connInfo;
+		g_bleClientConnected = true;
+		Log("BLE client connected");
+	}
+
+	void onDisconnect(NimBLEServer *pServer, NimBLEConnInfo &connInfo, int reason)
+	{
+		(void)connInfo;
+		(void)reason;
+		g_bleClientConnected = false;
+		const bool restartedAdvertising = pServer->startAdvertising();
+		logBleDiag(String("BLE client disconnected; advertising restart: ") + (restartedAdvertising ? "ok" : "failed"));
+	}
+};
+
+class EggDuinoBleRxCallbacks : public NimBLECharacteristicCallbacks
+{
+	void onWrite(NimBLECharacteristic *pCharacteristic, NimBLEConnInfo &connInfo)
+	{
+		(void)connInfo;
+		const std::string value = pCharacteristic->getValue();
+		for (size_t i = 0; i < value.size(); ++i)
+		{
+			queueBleByte(static_cast<uint8_t>(value[i]));
+		}
+	}
+};
+} // namespace
+
+void startBleInterface()
+{
+	char bleDeviceName[32] = {0};
+	buildDeviceName(bleDeviceName, sizeof(bleDeviceName));
+	if (bleDeviceName[0] == '\0')
+	{
+		snprintf(bleDeviceName, sizeof(bleDeviceName), "%sUNKNOWN", kBleDeviceNamePrefix);
+	}
+
+	logBleDiag("BLE init begin");
+	logBleDiag(String("BLE device name: ") + bleDeviceName);
+	logBleDiag(String("BLE service UUID: ") + kBleServiceUuid);
+	logBleDiag(String("BLE RX UUID: ") + kBleRxCharUuid);
+	logBleDiag(String("BLE TX UUID: ") + kBleTxCharUuid);
+
+	NimBLEDevice::init(bleDeviceName);
+	const bool blePowerSet = NimBLEDevice::setPower(ESP_PWR_LVL_P6);
+	const std::string bleAddress = NimBLEDevice::getAddress().toString();
+	logBleDiag(String("BLE radio address: ") + bleAddress.c_str());
+	logBleDiag(String("BLE TX power set: ") + (blePowerSet ? "ok" : "failed"));
+
+	g_pBleServer = NimBLEDevice::createServer();
+	if (g_pBleServer == NULL)
+	{
+		logBleDiag("BLE init failed: createServer returned null");
+		return;
+	}
+	g_pBleServer->setCallbacks(new EggDuinoBleServerCallbacks());
+	logBleDiag("BLE server created");
+
+	NimBLEService *pService = g_pBleServer->createService(kBleServiceUuid);
+	if (pService == NULL)
+	{
+		logBleDiag("BLE init failed: createService returned null");
+		return;
+	}
+	g_pBleTxCharacteristic = pService->createCharacteristic(
+		kBleTxCharUuid,
+		NIMBLE_PROPERTY::NOTIFY | NIMBLE_PROPERTY::READ);
+	if (g_pBleTxCharacteristic == NULL)
+	{
+		logBleDiag("BLE init failed: TX characteristic creation failed");
+		return;
+	}
+
+	NimBLECharacteristic *pRxCharacteristic = pService->createCharacteristic(
+		kBleRxCharUuid,
+		NIMBLE_PROPERTY::WRITE | NIMBLE_PROPERTY::WRITE_NR);
+	if (pRxCharacteristic == NULL)
+	{
+		logBleDiag("BLE init failed: RX characteristic creation failed");
+		return;
+	}
+	pRxCharacteristic->setCallbacks(new EggDuinoBleRxCallbacks());
+	logBleDiag("BLE characteristics created");
+
+	const bool serviceStarted = pService->start();
+	logBleDiag(String("BLE service start: ") + (serviceStarted ? "ok" : "failed"));
+	if (!serviceStarted)
+	{
+		return;
+	}
+
+	NimBLEAdvertising *pAdvertising = NimBLEDevice::getAdvertising();
+	if (pAdvertising == NULL)
+	{
+		logBleDiag("BLE init failed: getAdvertising returned null");
+		return;
+	}
+	pAdvertising->enableScanResponse(true);
+	const bool localNameSet = pAdvertising->setName(bleDeviceName);
+	const bool serviceUuidAdded = pAdvertising->addServiceUUID(kBleServiceUuid);
+	const bool advertisingStarted = pAdvertising->start();
+	logBleDiag(String("BLE advertising set local name: ") + (localNameSet ? "ok" : "failed"));
+	logBleDiag(String("BLE advertising add service UUID: ") + (serviceUuidAdded ? "ok" : "failed"));
+	logBleDiag(String("BLE advertising start: ") + (advertisingStarted ? "ok" : "failed"));
+	if (serviceUuidAdded && advertisingStarted)
+	{
+		logBleDiag("BLE service started");
+	}
+}
+
+void handleBleInterface()
+{
+	if (g_bleRxQueueOverflow)
+	{
+		g_bleRxQueueOverflow = false;
+		Log("BLE RX queue overflow");
+	}
+
+	uint8_t value = 0;
+	while (dequeueBleByte(&value))
+	{
+		setActiveProtocolContext(&g_BLECmd, PROTOCOL_TRANSPORT_BLE);
+		g_BLECmd.readChar(static_cast<char>(value));
+	}
+}
+
+bool bleProtocolWrite(const char *message)
+{
+	if ((message == NULL) || !g_bleClientConnected || (g_pBleTxCharacteristic == NULL))
+	{
+		return false;
+	}
+
+	const uint8_t *payload = reinterpret_cast<const uint8_t *>(message);
+	size_t remaining = strlen(message);
+	if (remaining == 0)
+	{
+		return true;
+	}
+
+	while (remaining > 0)
+	{
+		size_t chunkLen = remaining;
+		if (chunkLen > kBleNotifyChunkSize)
+		{
+			chunkLen = kBleNotifyChunkSize;
+		}
+
+		g_pBleTxCharacteristic->setValue(payload, chunkLen);
+		g_pBleTxCharacteristic->notify();
+
+		payload += chunkLen;
+		remaining -= chunkLen;
+		delay(3);
+	}
+
+	return true;
+}
+
+#endif

src/Config_Web.cpp

@@ -0,0 +1,659 @@
+#include "EggDuino.h"
+#include <ArduinoJson.h>
+#include <DNSServer.h>
+#include <string.h>
+
+ String g_strConnectionState = "No Wifi connection";
+
+namespace
+{
+	const char *kConfigPath = "/config.json";
+	const size_t kConfigJsonCapacity = 4096;
+	const byte kDnsPort = 53;
+	const unsigned long kWifiReconnectIntervalMs = 10000;
+	using ConfigJsonDocument = StaticJsonDocument<kConfigJsonCapacity>;
+
+	WebServer server(80);
+	DNSServer dnsServer;
+	bool configStoreReady = false;
+	bool apModeActive = false;
+	bool staReconnectEnabled = false;
+	bool staConnectionKnown = false;
+	unsigned long lastStaReconnectAttemptMs = 0;
+	ConfigJsonDocument g_configJsonScratch;
+
+	ConfigJsonDocument &configJsonScratch()
+	{
+		// Keep the large config JSON buffer off ESP32 Arduino's 8 KB loopTask stack.
+		g_configJsonScratch.clear();
+		return g_configJsonScratch;
+	}
+
+	void redirectToRoot()
+	{
+		server.sendHeader("Location", String("http://") + WiFi.softAPIP().toString() + "/", true);
+		server.send(302, "text/plain", "");
+	}
+
+	bool isIntType(const ConfigParameter &param)
+	{
+		return strcmp(param.type, "int") == 0;
+	}
+
+	int *asIntPtr(ConfigParameter &param)
+	{
+		return static_cast<int *>(param.value);
+	}
+
+	String *asStringPtr(ConfigParameter &param)
+	{
+		return static_cast<String *>(param.value);
+	}
+
+	ConfigParameter *findParameter(const String &key)
+	{
+		for (size_t i = 0; i < configParameterCount; ++i)
+		{
+			if (key.equals(configParameters[i].key))
+			{
+				return &configParameters[i];
+			}
+		}
+		return nullptr;
+	}
+
+	void applyDefaults()
+	{
+		for (size_t i = 0; i < configParameterCount; ++i)
+		{
+			if (isIntType(configParameters[i]))
+			{
+				*asIntPtr(configParameters[i]) = configParameters[i].defaultValue;
+			}
+			else
+			{
+				const char *fallback = configParameters[i].defaultText == nullptr ? "" : configParameters[i].defaultText;
+				*asStringPtr(configParameters[i]) = String(fallback);
+			}
+		}
+	}
+
+	void handleRoot()
+	{
+		static const char kPage[] PROGMEM = R"HTML(
+<!doctype html>
+<html lang="de">
+<head>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width, initial-scale=1" />
+<title>EggDuino Konfiguration</title>
+<style>
+body { font-family: "Segoe UI", sans-serif; margin: 20px; background: #f3f6fb; color: #1a1a1a; }
+main { max-width: 760px; margin: 0 auto; background: #fff; border-radius: 12px; padding: 20px; box-shadow: 0 8px 24px rgba(0,0,0,0.08); }
+h1 { margin-top: 0; font-size: 1.35rem; }
+label { display: block; margin: 14px 0 6px; font-weight: 600; }
+input[type='number'], input[type='text'], input[type='password'] { width: 100%; padding: 10px; border: 1px solid #c7d2e5; border-radius: 8px; box-sizing: border-box; }
+button { margin-top: 18px; border: 0; background: #0b5ed7; color: white; padding: 10px 14px; border-radius: 8px; cursor: pointer; }
+#status { margin-top: 12px; min-height: 1.2em; }
+#log { margin-top: 20px; border: 1px solid #d6dfef; border-radius: 8px; background: #0f172a; color: #d2e3ff; padding: 10px; height: 220px; overflow-y: auto; white-space: pre-wrap; font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace; font-size: 0.9rem; }
+#logTitle { margin-top: 24px; margin-bottom: 8px; font-weight: 700; }
+#downloadPrintLog { display: inline-block; margin-top: 8px; color: #0b5ed7; text-decoration: none; font-weight: 600; }
+</style>
+</head>
+<body>
+<main>
+<h1>EggDuino Parameter</h1>
+<form id="cfgForm"></form>
+<button id="saveBtn" type="button">Speichern</button>
+<div id="status"></div>
+<div id="logTitle">Logs</div>
+<a id="downloadPrintLog" href="/api/print-log.txt" download="incoming-print-log.txt">Incoming print log herunterladen</a>
+<div id="log"></div>
+</main>
+<script>
+let lastSeq = 0;
+
+async function loadConfig() {
+  const resp = await fetch('/api/config', { cache: 'no-store' });
+  if (!resp.ok) throw new Error('Konfiguration konnte nicht geladen werden');
+  return resp.json();
+}
+
+function renderForm(config) {
+  const form = document.getElementById('cfgForm');
+  form.innerHTML = '';
+  (config.parameters || []).forEach(p => {
+    const label = document.createElement('label');
+    label.textContent = p.description || p.key;
+    const input = document.createElement('input');
+    const paramType = p.type || 'int';
+    input.type = paramType === 'int' ? 'number' : paramType;
+    if (paramType === 'password') {
+      input.value = '';
+      if (p.hasValue) {
+        input.placeholder = '(gespeichert)';
+      }
+    } else {
+      input.value = p.value ?? '';
+    }
+    input.dataset.key = p.key;
+    input.dataset.ptype = paramType;
+    input.dataset.secret = p.secret ? '1' : '0';
+    input.dataset.touched = '0';
+    input.addEventListener('input', () => {
+      input.dataset.touched = '1';
+    });
+    form.appendChild(label);
+    form.appendChild(input);
+  });
+}
+
+async function saveConfig() {
+  const status = document.getElementById('status');
+  const inputs = [...document.querySelectorAll('input[data-key]')];
+  const payload = {
+    parameters: inputs
+      .map(i => {
+        const type = i.dataset.ptype || 'int';
+        const secret = i.dataset.secret === '1';
+        if (type === 'int') {
+          return { key: i.dataset.key, value: Number(i.value) };
+        }
+        if (secret && i.dataset.touched !== '1') {
+          return null;
+        }
+        return { key: i.dataset.key, value: i.value };
+      })
+      .filter(Boolean)
+  };
+  const resp = await fetch('/api/config', {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify(payload)
+  });
+  if (!resp.ok) {
+    const text = await resp.text();
+    throw new Error(text || 'Speichern fehlgeschlagen');
+  }
+  const saved = await resp.json();
+  renderForm(saved);
+  status.textContent = 'Gespeichert';
+}
+
+async function pollLogs() {
+  const box = document.getElementById('log');
+  const resp = await fetch('/api/logs?since=' + lastSeq);
+  if (!resp.ok) {
+    return;
+  }
+  const payload = await resp.json();
+  (payload.logs || []).forEach(entry => {
+    box.textContent += entry.text + '\n';
+  });
+  if (typeof payload.lastSeq === 'number') {
+    lastSeq = payload.lastSeq;
+  }
+  box.scrollTop = box.scrollHeight;
+}
+
+(async function init() {
+  const status = document.getElementById('status');
+  try {
+    const cfg = await loadConfig();
+    renderForm(cfg);
+    status.textContent = 'Bereit';
+  } catch (e) {
+    status.textContent = e.message;
+  }
+  document.getElementById('saveBtn').addEventListener('click', async () => {
+    try {
+      await saveConfig();
+    } catch (e) {
+      status.textContent = e.message;
+    }
+  });
+  pollLogs();
+  setInterval(pollLogs, 800);
+})();
+</script>
+</body>
+</html>
+)HTML";
+
+		server.send(200, "text/html", kPage);
+	}
+
+	void handleGetConfig()
+	{
+		if (!configStoreReady && !initConfigStore())
+		{
+			server.send(500, "text/plain", "Config storage not available");
+			return;
+		}
+		server.sendHeader("Cache-Control", "no-store, no-cache, must-revalidate");
+		server.sendHeader("Pragma", "no-cache");
+		server.sendHeader("Expires", "0");
+		server.send(200, "application/json", buildConfigJson());
+	}
+
+	void handlePostConfig()
+	{
+		if (!configStoreReady && !initConfigStore())
+		{
+			server.send(500, "text/plain", "Config storage not available");
+			return;
+		}
+
+		if (!server.hasArg("plain"))
+		{
+			server.send(400, "text/plain", "Missing JSON body");
+			return;
+		}
+
+		String error;
+		if (!applyConfigJson(server.arg("plain"), error))
+		{
+			Log(String("Config JSON fehlerhaft: ") + error);
+			server.send(400, "text/plain", error);
+			return;
+		}
+
+		if (!saveConfigToFile())
+		{
+			Log("Config konnte nicht gespeichert werden");
+			server.send(500, "text/plain", "Could not save config");
+			return;
+		}
+
+		server.send(200, "application/json", buildConfigJson());
+	}
+
+	void handleGetLogs()
+	{
+		uint32_t since = 0;
+		if (server.hasArg("since"))
+		{
+			since = static_cast<uint32_t>(server.arg("since").toInt());
+		}
+		server.send(200, "application/json", buildLogsJson(since));
+	}
+
+	void handleDownloadPrintLog()
+	{
+		server.sendHeader("Cache-Control", "no-store, no-cache, must-revalidate");
+		server.sendHeader("Pragma", "no-cache");
+		server.sendHeader("Expires", "0");
+		server.sendHeader("Content-Disposition", "attachment; filename=\"incoming-print-log.txt\"");
+		server.send(200, "text/plain; charset=utf-8", buildIncomingPrintLogText());
+	}
+
+	void handleNotFound()
+	{
+		if (apModeActive)
+		{
+			redirectToRoot();
+			return;
+		}
+		if (server.uri().startsWith("/api/"))
+		{
+			server.send(404, "text/plain", "API endpoint not found");
+			return;
+		}
+		handleRoot();
+	}
+
+	void handleWifiReconnect()
+	{
+		if (!staReconnectEnabled || apModeActive)
+		{
+			return;
+		}
+
+		const wl_status_t wifiStatus = WiFi.status();
+		if (wifiStatus == WL_CONNECTED)
+		{
+			if (!staConnectionKnown)
+			{
+				staConnectionKnown = true;
+				Log(String("WLAN verbunden: ") + WiFi.localIP().toString());
+			}
+			return;
+		}
+
+		if (staConnectionKnown)
+		{
+			staConnectionKnown = false;
+			Log("WLAN Verbindung verloren");
+		}
+
+		const unsigned long now = millis();
+		if (now - lastStaReconnectAttemptMs < kWifiReconnectIntervalMs)
+		{
+			return;
+		}
+
+		lastStaReconnectAttemptMs = now;
+		if (!WiFi.reconnect())
+		{
+			WiFi.begin(g_sWifiSsid.c_str(), g_sWifiPassword.c_str());
+		}
+		Log("WLAN Reconnect versucht");
+	}
+} // namespace
+
+ConfigParameter configParameters[] = {
+	{"int", "penUpPos", &g_iPenUpPos, "Pen Up Position", 40, "", false},
+	{"int", "penDownPos", &g_iPenDownPos, "Pen Down Position", 10, "", false},
+	{"int", "rotStepPin", &g_iRotStepPin, "Rotational Stepper Step Pin", kDefaultRotStepPin, "", false},
+	{"int", "rotDirPin", &g_iRotDirPin, "Rotational Stepper Direction Pin", kDefaultRotDirPin, "", false},
+	{"int", "rotEnablePin", &g_iRotEnablePin, "Rotational Stepper Enable Pin", kDefaultRotEnablePin, "", false},
+	{"int", "penStepPin", &g_iPenStepPin, "Pen Stepper Step Pin", kDefaultPenStepPin, "", false},
+	{"int", "penDirPin", &g_iPenDirPin, "Pen Stepper Direction Pin", kDefaultPenDirPin, "", false},
+	{"int", "penEnablePin", &g_iPenEnablePin, "Pen Stepper Enable Pin", kDefaultPenEnablePin, "", false},
+	{"int", "rotMicrostep", &g_iRotMicrostep, "Rotational Stepper Microsteps", kDefaultRotMicrostep, "", false},
+	{"int", "penMicrostep", &g_iPenMicrostep, "Pen Stepper Microsteps", kDefaultPenMicrostep, "", false},
+	{"int", "iMaxAcclSpeed", &g_iMaxAcclSpeed, "max. Stepper acceleration speed", 10000, "", false},
+	{"int", "servoPin", &g_iServoPin, "Servo Pin", kDefaultServoPin, "", false},
+	{"text", "Name", &g_sHostname, "Name", 0, "EggDuino", false},
+	{"text", "wifiSsid", &g_sWifiSsid, "WLAN SSID", 0, "", false},
+	{"password", "wifiPassword", &g_sWifiPassword, "WLAN Passwort", 0, "", true},
+};
+
+const size_t configParameterCount = sizeof(configParameters) / sizeof(configParameters[0]);
+
+bool initConfigStore()
+{
+	if (!SPIFFS.begin(true))
+	{
+		configStoreReady = false;
+		return false;
+	}
+	configStoreReady = loadConfigFromFile();
+	return configStoreReady;
+}
+
+bool loadConfigFromFile()
+{
+	applyDefaults();
+
+	File file = SPIFFS.open(kConfigPath, "r");
+	if (!file)
+	{
+		Log("config.json fehlt, defaults werden gespeichert");
+		return saveConfigToFile();
+	}
+
+	ConfigJsonDocument &doc = configJsonScratch();
+	DeserializationError err = deserializeJson(doc, file);
+	file.close();
+	if (err)
+	{
+		Log(String("config.json ist ungueltig (") + err.c_str() + "), defaults werden gespeichert");
+		return saveConfigToFile();
+	}
+
+	JsonArray params = doc["parameters"].as<JsonArray>();
+	for (JsonObject item : params)
+	{
+		const char *key = item["key"];
+		if (key == nullptr)
+		{
+			continue;
+		}
+		ConfigParameter *param = findParameter(String(key));
+		if (param == nullptr)
+		{
+			continue;
+		}
+		if (item.containsKey("value"))
+		{
+			if (isIntType(*param))
+			{
+				*asIntPtr(*param) = item["value"].as<int>();
+			}
+			else
+			{
+				*asStringPtr(*param) = item["value"].as<String>();
+			}
+		}
+		if (item.containsKey("description"))
+		{
+			param->description = item["description"].as<String>();
+		}
+	}
+	updateStepCorrectionFactors();
+	Log(String("Config geladen: penUpPos=") + g_iPenUpPos + ", penDownPos=" + g_iPenDownPos);
+
+	return true;
+}
+
+bool saveConfigToFile()
+{
+	File file = SPIFFS.open(kConfigPath, "w");
+	if (!file)
+	{
+		Log("SPIFFS open write failed");
+		return false;
+	}
+
+	ConfigJsonDocument &doc = configJsonScratch();
+	JsonArray params = doc.createNestedArray("parameters");
+	for (size_t i = 0; i < configParameterCount; ++i)
+	{
+		JsonObject item = params.createNestedObject();
+		item["key"] = configParameters[i].key;
+		item["type"] = configParameters[i].type;
+		item["secret"] = configParameters[i].secret;
+		if (isIntType(configParameters[i]))
+		{
+			item["value"] = *asIntPtr(configParameters[i]);
+		}
+		else
+		{
+			item["value"] = *asStringPtr(configParameters[i]);
+		}
+		item["description"] = configParameters[i].description;
+	}
+	if (doc.overflowed())
+	{
+		Log("Config JSON Dokument zu klein beim Speichern");
+		file.close();
+		return false;
+	}
+
+	bool ok = serializeJsonPretty(doc, file) > 0;
+	file.flush();
+	file.close();
+	if (!ok)
+	{
+		Log("serializeJsonPretty failed");
+	}
+	return ok;
+}
+
+String buildConfigJson()
+{
+	ConfigJsonDocument &doc = configJsonScratch();
+	JsonArray params = doc.createNestedArray("parameters");
+	for (size_t i = 0; i < configParameterCount; ++i)
+	{
+		JsonObject item = params.createNestedObject();
+		item["key"] = configParameters[i].key;
+		item["type"] = configParameters[i].type;
+		item["secret"] = configParameters[i].secret;
+		if (isIntType(configParameters[i]))
+		{
+			item["value"] = *asIntPtr(configParameters[i]);
+		}
+		else if (configParameters[i].secret)
+		{
+			item["value"] = "";
+			item["hasValue"] = !asStringPtr(configParameters[i])->isEmpty();
+		}
+		else
+		{
+			item["value"] = *asStringPtr(configParameters[i]);
+		}
+		item["description"] = configParameters[i].description;
+	}
+	if (doc.overflowed())
+	{
+		Log("Config JSON Dokument zu klein beim Lesen");
+		return String("{\"parameters\":[]}");
+	}
+
+	String output;
+	serializeJson(doc, output);
+	return output;
+}
+
+bool applyConfigJson(const String &payload, String &errorMessage)
+{
+	ConfigJsonDocument &doc = configJsonScratch();
+	DeserializationError err = deserializeJson(doc, payload);
+	if (err)
+	{
+		errorMessage = "Invalid JSON payload";
+		return false;
+	}
+
+	JsonArray params = doc["parameters"].as<JsonArray>();
+	if (params.isNull())
+	{
+		errorMessage = "JSON must contain 'parameters' array";
+		return false;
+	}
+
+	for (JsonObject item : params)
+	{
+		const char *key = item["key"];
+		if (key == nullptr)
+		{
+			continue;
+		}
+
+		ConfigParameter *param = findParameter(String(key));
+		if (param == nullptr)
+		{
+			continue;
+		}
+
+		if (!item.containsKey("value"))
+		{
+			continue;
+		}
+		if (isIntType(*param))
+		{
+			*asIntPtr(*param) = item["value"].as<int>();
+		}
+		else
+		{
+			*asStringPtr(*param) = item["value"].as<String>();
+		}
+		if (item.containsKey("description"))
+		{
+			param->description = item["description"].as<String>();
+		}
+	}
+	updateStepCorrectionFactors();
+
+	return true;
+}
+
+void startWebInterface()
+{
+	initConfigStore();
+	bool staConnected = false;
+	apModeActive = false;
+	staReconnectEnabled = !g_sWifiSsid.isEmpty();
+	staConnectionKnown = false;
+	lastStaReconnectAttemptMs = millis();
+	dnsServer.stop();
+	char deviceName[32] = {0};
+	buildDeviceName(deviceName, sizeof(deviceName));
+	String hostName = String(deviceName);
+	if (hostName.isEmpty())
+	{
+		hostName = "EggBot_UNKNOWN";
+	}
+	g_sHostname = hostName;
+
+	if (!g_sWifiSsid.isEmpty())
+	{
+		WiFi.mode(WIFI_STA);
+		WiFi.setAutoReconnect(true);
+		WiFi.setHostname(hostName.c_str());
+		WiFi.begin(g_sWifiSsid.c_str(), g_sWifiPassword.c_str());
+
+		const unsigned long connectStart = millis();
+		const unsigned long connectTimeoutMs = 20000;
+		Serial.println(String("Trying to connect to Wifi: ") + g_sWifiSsid.c_str() + g_sWifiPassword.c_str());
+		while (WiFi.status() != WL_CONNECTED && millis() - connectStart < connectTimeoutMs)
+		{
+			delay(250);
+		}
+		staConnected = (WiFi.status() == WL_CONNECTED);
+		staConnectionKnown = staConnected;
+		if (staConnected)
+		{
+         g_strConnectionState = String("Connected: http://") + WiFi.localIP().toString();
+			Serial.println(g_strConnectionState);
+		}
+		else
+		{
+			Serial.println("WLAN Verbindung fehlgeschlagen");
+		}
+
+		server.on("/", HTTP_GET, handleRoot);
+		server.on("/api/config", HTTP_GET, handleGetConfig);
+		server.on("/api/config", HTTP_POST, handlePostConfig);
+		server.on("/api/logs", HTTP_GET, handleGetLogs);
+		server.on("/api/print-log.txt", HTTP_GET, handleDownloadPrintLog);
+		server.onNotFound(handleNotFound);
+		server.begin();
+		startWifiProtocolInterface();
+	}
+	if (!staConnected)
+	{
+		WiFi.mode(WIFI_AP);
+#ifdef ESP32
+		WiFi.softAPsetHostname(hostName.c_str());
+#endif
+		if (WiFi.softAP(hostName.c_str()))
+		{
+			apModeActive = true;
+			dnsServer.start(kDnsPort, "*", WiFi.softAPIP());
+         g_strConnectionState = String("AP aktiv: http://" + WiFi.softAPIP().toString() + " (" + hostName + ")");
+         Serial.println(g_strConnectionState);
+		}
+		else
+		{
+			Serial.println("AP konnte nicht gestartet werden");
+		}
+	}
+
+	server.on("/", HTTP_GET, handleRoot);
+	server.on("/api/config", HTTP_GET, handleGetConfig);
+	server.on("/api/config", HTTP_POST, handlePostConfig);
+	server.on("/api/logs", HTTP_GET, handleGetLogs);
+	server.on("/api/print-log.txt", HTTP_GET, handleDownloadPrintLog);
+	server.on("/generate_204", HTTP_GET, redirectToRoot);
+	server.on("/gen_204", HTTP_GET, redirectToRoot);
+	server.on("/hotspot-detect.html", HTTP_GET, redirectToRoot);
+	server.on("/connecttest.txt", HTTP_GET, redirectToRoot);
+	server.on("/ncsi.txt", HTTP_GET, redirectToRoot);
+	server.on("/fwlink", HTTP_GET, redirectToRoot);
+	server.onNotFound(handleNotFound);
+	server.begin();
+}
+
+void handleWebInterface()
+{
+	handleWifiReconnect();
+
+	if (apModeActive)
+	{
+		dnsServer.processNextRequest();
+	}
+	server.handleClient();
+}

src/Functions.cpp

@@ -0,0 +1,369 @@
+#include "EggDuino.h"
+
+namespace
+{
+bool g_bPrintSessionActive = false;
+
+void captureSerialProtocolLine(const char *line)
+{
+	captureIncomingPrintLine(line, PROTOCOL_TRANSPORT_SERIAL);
+}
+
+#ifdef ESP32
+void captureBleProtocolLine(const char *line)
+{
+	captureIncomingPrintLine(line, PROTOCOL_TRANSPORT_BLE);
+}
+
+void captureWifiProtocolLine(const char *line)
+{
+	captureIncomingPrintLine(line, PROTOCOL_TRANSPORT_WIFI);
+}
+#endif
+
+void startPrintSessionIfNeeded()
+{
+	if (!g_bPrintSessionActive)
+	{
+		clearIncomingPrintLog();
+		g_bPrintSessionActive = true;
+	}
+}
+
+void stopPrintSession()
+{
+	g_bPrintSessionActive = false;
+}
+}
+
+void queryPen()
+{
+   Log(__FUNCTION__);
+	char state;
+	if (g_iPenState == g_iPenUpPos)
+		state = '1';
+	else
+		state = '0';
+	protocolWrite(String(state) + "\r\n");
+	sendAck();
+}
+
+void queryButton()
+{
+	protocolWrite(String(g_bPrgButtonState) + "\r\n");
+	sendAck();
+	g_bPrgButtonState = 0;
+}
+
+void queryLayer()
+{
+   Log(__FUNCTION__);
+	protocolWrite(String(g_uiLayer) + "\r\n");
+	sendAck();
+}
+
+void setLayer()
+{
+   Log(__FUNCTION__);
+	uint32_t value = 0;
+	char *arg1;
+	arg1 = nextCommandArg();
+	if (arg1 != NULL)
+	{
+		value = atoi(arg1);
+		g_uiLayer = value;
+		sendAck();
+	}
+	else
+		sendError();
+}
+
+void queryNodeCount()
+{
+	protocolWrite(String(g_uiNodeCount) + "\r\n");
+	sendAck();
+}
+
+void setNodeCount()
+{
+   Log(__FUNCTION__);
+	uint32_t value = 0;
+	char *arg1;
+	arg1 = nextCommandArg();
+	if (arg1 != NULL)
+	{
+		value = atoi(arg1);
+		g_uiNodeCount = value;
+		sendAck();
+	}
+	else
+		sendError();
+}
+
+void nodeCountIncrement()
+{
+	g_uiNodeCount++;
+	sendAck();
+}
+
+void nodeCountDecrement()
+{
+	g_uiNodeCount--;
+	sendAck();
+}
+
+void stepperMove()
+{
+   Log(__FUNCTION__);
+	uint16_t duration = 0; // in ms
+	int penStepsEBB = 0;   // Pen
+	int rotStepsEBB = 0;   // Rot
+
+	if (!parseSMArgs(&duration, &penStepsEBB, &rotStepsEBB))
+	{
+		sendError();
+		return;
+	}
+
+	
+	if ((penStepsEBB == 0) && (rotStepsEBB == 0))
+	{
+		// delay(duration);
+		sendAck();
+		return;
+	}
+
+	startPrintSessionIfNeeded();
+	
+	prepareMove(duration, penStepsEBB, rotStepsEBB);
+	moveToDestination();
+	sendAck();
+}
+
+void setPen()
+{
+   Log(__FUNCTION__);
+	int cmd;
+	char *arg;
+
+	// moveToDestination();
+
+	arg = nextCommandArg();
+	if (arg != NULL)
+	{
+		cmd = atoi(arg);
+		switch (cmd)
+		{
+		case 0:
+			movePenServoTo(g_iPenUpPos);
+			break;
+
+		case 1:
+			movePenServoTo(g_iPenDownPos);
+			break;
+
+		default:
+			sendError();
+		}
+	}
+	char *val;
+	val = nextCommandArg();
+	if (val != NULL)
+	{
+		(void)atoi(val);
+		sendAck();
+		// delay(value);
+	}
+	if (val == NULL && arg != NULL)
+	{
+		sendAck();
+		// delay(500);
+	}
+	//	Serial.println("delay");
+	if (val == NULL && arg == NULL)
+		sendError();
+}
+
+void togglePen()
+{
+   Log(__FUNCTION__);
+	(void)nextCommandArg();
+
+	doTogglePen();
+	sendAck();
+
+}
+
+void doTogglePen()
+{
+   Log(__FUNCTION__);
+	if (g_iPenState == g_iPenUpPos)
+	{
+		movePenServoTo(g_iPenDownPos);
+	}
+	else
+	{
+		movePenServoTo(g_iPenUpPos);
+	}
+}
+
+void enableMotors()
+{
+   Log(__FUNCTION__);
+	int cmd;
+	int value;
+	char *arg;
+	char *val;
+	arg = nextCommandArg();
+	if (arg != NULL)
+		cmd = atoi(arg);
+	val = nextCommandArg();
+	if (val != NULL)
+		value = atoi(val);
+	// values parsed
+	if ((arg != NULL) && (val == NULL))
+	{
+		switch (cmd)
+		{
+		case 0:
+			stopPrintSession();
+			motorsOff();
+			sendAck();
+			break;
+		case 1:
+			startPrintSessionIfNeeded();
+			motorsOn();
+			sendAck();
+			break;
+		default:
+			sendError();
+		}
+	}
+	// the following implementaion is a little bit cheated, because i did not know, how to implement different values for first and second argument.
+	if ((arg != NULL) && (val != NULL))
+	{
+		switch (value)
+		{
+		case 0:
+			stopPrintSession();
+			motorsOff();
+			sendAck();
+			break;
+		case 1:
+			startPrintSessionIfNeeded();
+			motorsOn();
+			sendAck();
+			break;
+		default:
+			sendError();
+		}
+	}
+}
+
+void stepperModeConfigure()
+{
+   Log(__FUNCTION__);
+	int cmd;
+	int value;
+   int iTmpPenPos;
+	char *arg;
+	arg = nextCommandArg();
+	if (arg != NULL)
+		cmd = atoi(arg);
+	char *val;
+	val = nextCommandArg();
+	if (val != NULL)
+		value = atoi(val);
+	if ((arg != NULL) && (val != NULL))
+	{
+		switch (cmd)
+		{
+		case 4:
+			iTmpPenPos = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo
+         if (g_iPenDownPos != iTmpPenPos)
+         {
+            g_iPenDownPos = iTmpPenPos;
+            storePenDownPosInEE();
+         }
+			sendAck();
+			break;
+		case 5:
+			iTmpPenPos = (int)((float)(value - 6000) / (float)133.3); // transformation from EBB to PWM-Servo
+         if (g_iPenUpPos != iTmpPenPos)
+         {
+            g_iPenUpPos = iTmpPenPos;
+            storePenUpPosInEE();
+         }
+			sendAck();
+			break;
+		case 6: // rotMin=value;    ignored
+			sendAck();
+			break;
+		case 7: // rotMax=value;    ignored
+			sendAck();
+			break;
+		case 11:
+			g_iServoRateUp = value;
+			sendAck();
+			break;
+		case 12:
+			g_iServoRateDown = value;
+			sendAck();
+			break;
+		default:
+			sendError();
+		}
+	}
+}
+
+void sendVersion()
+{
+	Log(__FUNCTION__);
+	protocolWrite("EBB: " + g_strConnectionState);
+	protocolWrite("\r\n");
+}
+
+
+void unrecognized(const char *command)
+{
+   Log(__FUNCTION__);
+	sendError();
+}
+
+void ignore()
+{
+   Log(__FUNCTION__);
+	sendAck();
+}
+
+void makeComInterface()
+{
+	auto registerCommands = [](SerialCommand &cmd) {
+		cmd.addCommand("v", sendVersion);
+		cmd.addCommand("EM", enableMotors);
+		cmd.addCommand("SC", stepperModeConfigure);
+		cmd.addCommand("SP", setPen);
+		cmd.addCommand("SM", stepperMove);
+		cmd.addCommand("SE", ignore);
+		cmd.addCommand("TP", togglePen);
+		cmd.addCommand("PO", ignore); // Engraver command, not implemented, gives fake answer
+		cmd.addCommand("NI", nodeCountIncrement);
+		cmd.addCommand("ND", nodeCountDecrement);
+		cmd.addCommand("SN", setNodeCount);
+		cmd.addCommand("QN", queryNodeCount);
+		cmd.addCommand("SL", setLayer);
+		cmd.addCommand("QL", queryLayer);
+		cmd.addCommand("QP", queryPen);
+		cmd.addCommand("QB", queryButton);	   //"PRG" Button,
+		cmd.setDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
+	};
+
+	registerCommands(SCmd);
+	SCmd.setLineHandler(captureSerialProtocolLine);
+#ifdef ESP32
+	registerCommands(g_BLECmd);
+	g_BLECmd.setLineHandler(captureBleProtocolLine);
+	registerCommands(g_WifiCmd);
+	g_WifiCmd.setLineHandler(captureWifiProtocolLine);
+#endif
+}

src/Helper_Functions.cpp

@@ -0,0 +1,250 @@
+#include "EggDuino.h"
+#include "motion_planner.h"
+
+namespace
+{
+#ifdef ESP32
+   constexpr char kDeviceNamePrefix[] = "EggBot_";
+#endif
+
+   int clampServoAngle(int angle)
+   {
+      if (angle < 0)
+      {
+         return 0;
+      }
+      if (angle > 180)
+      {
+         return 180;
+      }
+      return angle;
+   }
+
+   uint_fast16_t servoSpeedFromRate(int rate)
+   {
+      // EBB rate values are implementation-specific. We map them to ServoEasing degrees/second.
+      // Higher rate means faster movement.
+      if (rate <= 0)
+      {
+         return 70;
+      }
+      int speed = 20 + (rate / 2);
+      if (speed < 10)
+      {
+         speed = 10;
+      }
+      if (speed > 360)
+      {
+         speed = 360;
+      }
+      return (uint_fast16_t)speed;
+   }
+}
+
+#ifdef ESP32
+void buildDeviceName(char *nameBuffer, size_t bufferSize)
+{
+   if ((nameBuffer == NULL) || (bufferSize == 0))
+   {
+      return;
+   }
+
+   // Tasmota-style chip ID uses the lower 24 bits of the ESP32 efuse MAC.
+   const uint32_t chipId = static_cast<uint32_t>(ESP.getEfuseMac() & 0xFFFFFFULL);
+   snprintf(nameBuffer, bufferSize, "%s%06X", kDeviceNamePrefix, chipId);
+}
+#endif
+
+void updateStepCorrectionFactors()
+{
+   if (g_iRotMicrostep <= 0)
+   {
+      g_iRotMicrostep = kDefaultRotMicrostep;
+   }
+   if (g_iPenMicrostep <= 0)
+   {
+      g_iPenMicrostep = kDefaultPenMicrostep;
+   }
+   fROT_STEP_CORRECTION = 16.0f / (float)g_iRotMicrostep;
+   fPEN_STEP_CORRECTION = 16.0f / (float)g_iPenMicrostep;
+}
+
+XYMotionPlanner *g_pPlanner = nullptr;
+
+void initHardware()
+{
+   if (!initConfigStore())
+   {
+      g_iPenUpPos = 5;
+      g_iPenDownPos = 20;
+   }
+   updateStepCorrectionFactors();
+   g_iPenState = g_iPenDownPos;
+
+   g_stepEngine.init();
+   g_pStepperRotate = g_stepEngine.stepperConnectToPin(g_iRotStepPin);
+   if (g_pStepperRotate)
+   {
+      // rotMotor.setMaxSpeed(2000.0);
+      // rotMotor.setAcceleration(10000.0);
+
+      g_pStepperRotate->setDirectionPin(g_iRotDirPin);
+      g_pStepperRotate->setEnablePin(g_iRotEnablePin);
+      g_pStepperRotate->setAcceleration(g_iMaxAcclSpeed);
+      g_pStepperRotate->setAutoEnable(false);
+   }
+
+   // Stepper pen init
+   g_pStepperPen = g_stepEngine.stepperConnectToPin(g_iPenStepPin);
+   if (g_pStepperPen)
+   {
+      // penMotor.setMaxSpeed(2000.0);
+      // penMotor.setAcceleration(10000.0);
+      g_pStepperPen->setDirectionPin(g_iPenDirPin);
+      g_pStepperPen->setEnablePin(g_iPenEnablePin);
+      g_pStepperPen->setAcceleration(g_iMaxAcclSpeed);
+      g_pStepperPen->setAutoEnable(false);
+   }
+
+   motorsOff();
+
+   g_pPlanner = new XYMotionPlanner(g_pStepperPen, g_pStepperRotate);
+   g_pPlanner->setBaseLimits(4000, g_iMaxAcclSpeed);
+   g_pPlanner->setMinimums(50, 100);
+   g_pPlanner->setCurrentPosition(0, 0);
+
+   g_iPenState = clampServoAngle(g_iPenState);
+   penServo.attach(g_iServoPin, g_iPenState);
+   penServo.setEasingType(EASE_QUADRATIC_IN_OUT);
+}
+
+void movePenServoTo(int targetPos)
+{
+   targetPos = clampServoAngle(targetPos);
+   int currentPos = clampServoAngle(g_iPenState);
+   if (currentPos == targetPos)
+   {
+      return;
+   }
+
+   uint_fast16_t speed = 0;
+   speed = servoSpeedFromRate(g_iServoRateDown);
+   penServo.easeTo(targetPos, speed);
+
+   g_iPenState = targetPos;
+}
+
+void storePenUpPosInEE()
+{
+   saveConfigToFile();
+}
+
+void storePenDownPosInEE()
+{
+   saveConfigToFile();
+}
+
+void sendAck()
+{
+   Log(__FUNCTION__);
+   protocolWrite("OK\r\n");
+}
+
+void sendError()
+{
+   Log(__FUNCTION__);
+   protocolWrite("unknown CMD\r\n");
+}
+
+void motorsOff()
+{
+   Log(__FUNCTION__);
+   g_pStepperPen->disableOutputs();
+   g_pStepperRotate->disableOutputs();
+   g_bMotorsEnabled = 0;
+}
+
+void motorsOn()
+{
+   Log(__FUNCTION__);
+   g_pStepperPen->enableOutputs();
+   g_pStepperRotate->enableOutputs();
+   g_bMotorsEnabled = 1;
+}
+
+void toggleMotors()
+
+{
+   Log(__FUNCTION__);
+   if (g_bMotorsEnabled)
+   {
+      motorsOff();
+   }
+   else
+   {
+      motorsOn();
+   }
+}
+
+bool parseSMArgs(uint16_t *duration, int *penStepsEBB, int *rotStepsEBB)
+{
+   char *arg1 = NULL;
+   char *arg2 = NULL;
+   char *arg3 = NULL;
+   arg1 = nextCommandArg();
+   if (arg1 != NULL)
+   {
+      *duration = atoi(arg1);
+      arg2 = nextCommandArg();
+   }
+   if (arg2 != NULL)
+   {
+      *penStepsEBB = atoi(arg2);
+      arg3 = nextCommandArg();
+   }
+   if (arg3 != NULL)
+   {
+      *rotStepsEBB = atoi(arg3);
+
+      return true;
+   }
+
+   return false;
+}
+
+void prepareMove(uint16_t duration, int penStepsEBB, int rotStepsEBB)
+{
+   if (!g_bMotorsEnabled)
+   {
+      motorsOn();
+   }
+
+   g_pPlanner->moveBy(penStepsEBB / fPEN_STEP_CORRECTION, rotStepsEBB / fROT_STEP_CORRECTION);
+}
+
+void moveOneStep()
+{
+   Log("moveOneStep");
+   while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning() || g_pPlanner->isRunning())
+   {
+      g_pPlanner->update();
+   }
+   g_pPlanner->update();
+   Log("done");
+}
+
+void moveToDestination()
+{
+   Log("moveToDestination");
+   while (g_pStepperPen->isRunning() || g_pStepperRotate->isRunning() || g_pPlanner->isRunning())
+   {
+      g_pPlanner->update();
+   }
+   g_pPlanner->update();
+   Log("done");
+}
+
+void setprgButtonState()
+{
+   g_bPrgButtonState = 1;
+}

src/Logging.cpp

@@ -0,0 +1,152 @@
+#include "EggDuino.h"
+
+namespace {
+constexpr size_t kLogCapacity = 80;
+constexpr size_t kLogLineLength = 160;
+constexpr size_t kIncomingLogCapacity = 128;
+constexpr size_t kIncomingLogLineLength = SERIALCOMMAND_BUFFER + 24;
+
+char g_logLines[kLogCapacity][kLogLineLength];
+uint32_t g_logSeq[kLogCapacity];
+size_t g_logWritePos = 0;
+uint32_t g_nextLogSeq = 1;
+
+char g_incomingLogLines[kIncomingLogCapacity][kIncomingLogLineLength];
+uint32_t g_incomingLogSeq[kIncomingLogCapacity];
+size_t g_incomingLogWritePos = 0;
+uint32_t g_nextIncomingLogSeq = 1;
+
+void appendJsonEscaped(String &out, const char *text) {
+	out += "\"";
+	for (size_t i = 0; text[i] != '\0'; ++i) {
+		const char c = text[i];
+		switch (c) {
+			case '\\':
+				out += "\\\\";
+				break;
+			case '"':
+				out += "\\\"";
+				break;
+			case '\n':
+				out += "\\n";
+				break;
+			case '\r':
+				out += "\\r";
+				break;
+			case '\t':
+				out += "\\t";
+				break;
+			default:
+				if (static_cast<unsigned char>(c) < 0x20) {
+					out += '?';
+				} else {
+					out += c;
+				}
+				break;
+		}
+	}
+	out += "\"";
+}
+
+const char *transportLabel(ProtocolTransport transport) {
+	switch (transport) {
+		case PROTOCOL_TRANSPORT_BLE:
+			return "BLE";
+		case PROTOCOL_TRANSPORT_WIFI:
+			return "WIFI";
+		case PROTOCOL_TRANSPORT_SERIAL:
+		default:
+			return "SERIAL";
+	}
+}
+} // namespace
+
+void Log(const String &message) {
+	snprintf(
+		g_logLines[g_logWritePos],
+		kLogLineLength,
+		"[%010lu] %s",
+		static_cast<unsigned long>(millis()),
+		message.c_str()
+	);
+	g_logSeq[g_logWritePos] = g_nextLogSeq++;
+	g_logWritePos = (g_logWritePos + 1) % kLogCapacity;
+}
+
+void Log(const char *message) {
+	Log(String(message));
+}
+
+String buildLogsJson(uint32_t sinceSeq) {
+	String output;
+	output.reserve(2048);
+	output += "{\"logs\":[";
+	uint32_t lastSeq = sinceSeq;
+	bool first = true;
+
+	for (size_t i = 0; i < kLogCapacity; ++i) {
+		const size_t idx = (g_logWritePos + i) % kLogCapacity;
+		const uint32_t seq = g_logSeq[idx];
+		if (seq == 0 || seq <= sinceSeq) {
+			continue;
+		}
+
+		if (!first) {
+			output += ",";
+		}
+		first = false;
+		output += "{\"seq\":";
+		output += String(seq);
+		output += ",\"text\":";
+		appendJsonEscaped(output, g_logLines[idx]);
+		output += "}";
+		lastSeq = seq;
+	}
+
+	output += "],\"lastSeq\":";
+	output += String(lastSeq);
+	output += "}";
+	return output;
+}
+
+void captureIncomingPrintLine(const char *line, ProtocolTransport transport) {
+	if ((line == NULL) || (line[0] == '\0')) {
+		return;
+	}
+
+	snprintf(
+		g_incomingLogLines[g_incomingLogWritePos],
+		kIncomingLogLineLength,
+		"[%010lu] %s %s",
+		static_cast<unsigned long>(millis()),
+		transportLabel(transport),
+		line
+	);
+	g_incomingLogSeq[g_incomingLogWritePos] = g_nextIncomingLogSeq++;
+	g_incomingLogWritePos = (g_incomingLogWritePos + 1) % kIncomingLogCapacity;
+}
+
+String buildIncomingPrintLogText() {
+	String output;
+	output.reserve(4096);
+
+	for (size_t i = 0; i < kIncomingLogCapacity; ++i) {
+		const size_t idx = (g_incomingLogWritePos + i) % kIncomingLogCapacity;
+		if (g_incomingLogSeq[idx] == 0) {
+			continue;
+		}
+		output += g_incomingLogLines[idx];
+		output += "\n";
+	}
+
+	return output;
+}
+
+void clearIncomingPrintLog() {
+	for (size_t i = 0; i < kIncomingLogCapacity; ++i) {
+		g_incomingLogSeq[i] = 0;
+		g_incomingLogLines[i][0] = '\0';
+	}
+	g_incomingLogWritePos = 0;
+	g_nextIncomingLogSeq = 1;
+}

src/WiFi_Protocol.cpp

@@ -0,0 +1,156 @@
+#include "EggDuino.h"
+
+#ifdef ESP32
+#include <WebSocketsServer.h>
+
+namespace
+{
+constexpr uint16_t kWifiProtocolPort = 1337;
+constexpr uint8_t kInvalidWifiClientId = 0xFF;
+constexpr size_t kWifiRxQueueSize = 1024;
+
+struct WifiRxByte
+{
+	uint8_t value;
+};
+
+WebSocketsServer g_wifiProtocolSocket(kWifiProtocolPort);
+WifiRxByte g_wifiRxQueue[kWifiRxQueueSize];
+size_t g_wifiRxHead = 0;
+size_t g_wifiRxTail = 0;
+bool g_wifiRxOverflow = false;
+bool g_wifiProtocolStarted = false;
+uint8_t g_wifiProtocolClientId = kInvalidWifiClientId;
+
+bool queueWifiByte(uint8_t value)
+{
+	const size_t nextHead = (g_wifiRxHead + 1) % kWifiRxQueueSize;
+	if (nextHead == g_wifiRxTail)
+	{
+		g_wifiRxOverflow = true;
+		return false;
+	}
+
+	g_wifiRxQueue[g_wifiRxHead].value = value;
+	g_wifiRxHead = nextHead;
+	return true;
+}
+
+bool dequeueWifiByte(WifiRxByte *byte)
+{
+	if ((byte == NULL) || (g_wifiRxHead == g_wifiRxTail))
+	{
+		return false;
+	}
+
+	*byte = g_wifiRxQueue[g_wifiRxTail];
+	g_wifiRxTail = (g_wifiRxTail + 1) % kWifiRxQueueSize;
+	return true;
+}
+
+void handleWifiSocketEvent(uint8_t clientId, WStype_t type, uint8_t *payload, size_t length)
+{
+	(void)payload;
+
+	switch (type)
+	{
+	case WStype_CONNECTED:
+		if (g_wifiProtocolClientId == kInvalidWifiClientId)
+		{
+			g_wifiProtocolClientId = clientId;
+		}
+		Log(String("WiFi protocol client connected: ") + clientId);
+		break;
+
+	case WStype_DISCONNECTED:
+		if (g_wifiProtocolClientId == clientId)
+		{
+			g_wifiProtocolClientId = kInvalidWifiClientId;
+		}
+		Log(String("WiFi protocol client disconnected: ") + clientId);
+		break;
+
+	case WStype_TEXT:
+	case WStype_BIN:
+		if (g_wifiProtocolClientId == kInvalidWifiClientId)
+		{
+			g_wifiProtocolClientId = clientId;
+		}
+		if (clientId != g_wifiProtocolClientId)
+		{
+			break;
+		}
+		for (size_t i = 0; i < length; ++i)
+		{
+			queueWifiByte(payload[i]);
+		}
+		break;
+
+	default:
+		break;
+	}
+}
+} // namespace
+
+void startWifiProtocolInterface()
+{
+	if (g_wifiProtocolStarted)
+	{
+		return;
+	}
+
+	if (WiFi.status() != WL_CONNECTED)
+	{
+		return;
+	}
+
+	g_wifiProtocolSocket.begin();
+	g_wifiProtocolSocket.onEvent(handleWifiSocketEvent);
+	g_wifiProtocolStarted = true;
+
+	Log(String("WiFi EggBot protocol ws://") + WiFi.localIP().toString() + ":" + kWifiProtocolPort);
+}
+
+void handleWifiProtocolInterface()
+{
+	if (!g_wifiProtocolStarted)
+	{
+		if (WiFi.status() == WL_CONNECTED)
+		{
+			startWifiProtocolInterface();
+		}
+		return;
+	}
+
+	g_wifiProtocolSocket.loop();
+
+	if (g_wifiRxOverflow)
+	{
+		g_wifiRxOverflow = false;
+		Log("WiFi protocol RX queue overflow");
+	}
+
+	WifiRxByte byte = {0};
+	while (dequeueWifiByte(&byte))
+	{
+		setActiveProtocolContext(&g_WifiCmd, PROTOCOL_TRANSPORT_WIFI);
+		g_WifiCmd.readChar(static_cast<char>(byte.value));
+	}
+}
+
+bool wifiProtocolWrite(const char *message)
+{
+	if (!g_wifiProtocolStarted || (message == NULL))
+	{
+		return false;
+	}
+
+	if ((g_wifiProtocolClientId == kInvalidWifiClientId) || !g_wifiProtocolSocket.clientIsConnected(g_wifiProtocolClientId))
+	{
+		return false;
+	}
+
+	return g_wifiProtocolSocket.sendTXT(g_wifiProtocolClientId, message);
+}
+
+#endif

src/esp_timer_compat.c

@@ -0,0 +1,13 @@
+#if defined(EGGDUINO_WINDOWS_BUILD_FIXES)
+#include <ArduinoEsp32Compat.h>
+
+#if defined(ESP32) && EGGDUINO_LEGACY_ARDUINO_ESP32
+#include <esp_timer.h>
+
+int esp_timer_is_active(esp_timer_handle_t timer)
+{
+    (void)timer;
+    return 0;
+}
+#endif
+#endif

src/main.cpp

@@ -0,0 +1,225 @@
+/* Eggduino-Firmware by Joachim Cerny, 2014
+
+   Thanks for the nice libs ACCELSTEPPER and SERIALCOMMAND, which made this project much easier.
+   Thanks to the Eggbot-Team for such a funny and enjoable concept!
+   Thanks to my wife and my daughter for their patience. :-)
+
+ */
+
+// implemented Eggbot-Protocol-Version v13
+// EBB-Command-Reference, I sourced from: http://www.schmalzhaus.com/EBB/EBBCommands.html
+// no homing sequence, switch-on position of pen will be taken as reference point.
+// No collision-detection!!
+// Supported Servos: I do not know, I use Arduino Servo Lib with TG9e- standard servo.
+// Note: Maximum-Speed in Inkscape is 1000 Steps/s. You could enter more, but then Pythonscript sends nonsense.
+// EBB-Coordinates are coming in for 16th-Microstepmode. The Coordinate-Transforms are done in weired integer-math. Be careful, when you diecide to modify settings.
+
+/* TODOs:
+   1	collision control via penMin/penMax
+   2	implement homing sequence via microswitch or optical device
+ */
+
+#include "EggDuino.h"
+#include <ServoEasing.hpp>
+
+// EXTRAFEATURES - UNCOMMENT TO USE THEM -------------------------------------------------------------------
+
+// #define prgButton 2 // PRG button
+// #define penToggleButton 12 // pen up/down button
+// #define motorsButton 4 // motors enable button
+
+//-----------------------------------------------------------------------------------------------------------
+
+FastAccelStepperEngine g_stepEngine = FastAccelStepperEngine();
+FastAccelStepper *g_pStepperRotate = NULL;
+FastAccelStepper *g_pStepperPen = NULL;
+
+// make Objects
+ServoEasing penServo;
+SerialCommand SCmd;
+#ifdef ESP32
+SerialCommand g_BLECmd;
+SerialCommand g_WifiCmd;
+#endif
+
+namespace
+{
+SerialCommand *g_pActiveParser = &SCmd;
+ProtocolTransport g_activeTransport = PROTOCOL_TRANSPORT_SERIAL;
+}
+
+// create Buttons
+#ifdef prgButton
+Button prgButtonToggle(prgButton, setprgButtonState);
+#endif
+#ifdef penToggleButton
+Button penToggle(penToggleButton, doTogglePen);
+#endif
+#ifdef motorsButton
+Button motorsToggle(motorsButton, toggleMotors);
+#endif
+
+// Variables... be careful, by messing around here, everything has a reason and crossrelations...
+int g_iPenUpPos = 5;	   // can be overwritten from EBB-Command SC
+int g_iPenDownPos = 20;   // can be overwritten from EBB-Command SC
+int g_iServoRateUp = 0;   // from EBB-Protocol, mapped to ServoEasing speed (up movement)
+int g_iServoRateDown = 0; // from EBB-Protocol, mapped to ServoEasing speed (down movement)
+long g_iRotStepError = 0;
+long g_iPenStepError = 0;
+int g_iPenState = g_iPenUpPos;
+uint32_t g_uiNodeCount = 0;
+unsigned int g_uiLayer = 0;
+boolean g_bPrgButtonState = 0;
+boolean g_bMotorsEnabled = 0;
+int g_iRotDirPin = kDefaultRotDirPin;
+int g_iRotEnablePin = kDefaultRotEnablePin;
+int g_iRotStepPin = kDefaultRotStepPin;
+int g_iPenStepPin = kDefaultPenStepPin;
+int g_iPenDirPin = kDefaultPenDirPin;
+int g_iPenEnablePin = kDefaultPenEnablePin;
+int g_iServoPin = kDefaultServoPin;
+int g_iRotMicrostep = kDefaultRotMicrostep;
+int g_iPenMicrostep = kDefaultPenMicrostep;
+float fROT_STEP_CORRECTION = 16.0 / kDefaultRotMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
+float fPEN_STEP_CORRECTION = 16.0 / kDefaultPenMicrostep; // devide EBB-Coordinates by this factor to get EGGduino-Steps
+int g_iMaxAcclSpeed = 10000;
+String g_sHostname = "EggDuino";
+String g_sWifiSsid = "";
+String g_sWifiPassword = "";
+
+void setActiveProtocolContext(SerialCommand *parser, ProtocolTransport transport)
+{
+	if (parser != NULL)
+	{
+		g_pActiveParser = parser;
+	}
+	g_activeTransport = transport;
+}
+
+char *nextCommandArg()
+{
+	return g_pActiveParser->next();
+}
+
+void protocolWrite(const char *message)
+{
+	if (message == NULL)
+	{
+		return;
+	}
+
+#ifdef ESP32
+	if (g_activeTransport == PROTOCOL_TRANSPORT_BLE)
+	{
+		if (bleProtocolWrite(message))
+		{
+			return;
+		}
+	}
+	if (g_activeTransport == PROTOCOL_TRANSPORT_WIFI)
+	{
+		if (wifiProtocolWrite(message))
+		{
+			return;
+		}
+	}
+#endif
+
+	Serial.print(message);
+}
+
+void protocolWrite(const String &message)
+{
+	protocolWrite(message.c_str());
+}
+
+// Stepper Test
+#ifdef TEST
+// #define dirPinStepper 16
+// #define enablePinStepper 12
+// #define stepPinStepper 26
+#endif
+
+void setup()
+{
+	Serial.begin(115200);
+	Serial.println("Starting...");
+	startWebInterface();
+	makeComInterface();
+	initHardware();
+	startBleInterface();
+}
+
+uint8_t g_uiState = 0;
+unsigned long g_uiLastTim = millis();
+
+void loop()
+{
+#ifdef TEST
+
+	unsigned long uiNow = millis();
+	motorsOn();
+
+	if (uiNow - g_uiLastTim > 5000)
+	{
+		g_uiLastTim = uiNow;
+		switch (g_uiState)
+		{
+		case 0:
+			Log(String(g_uiState));
+			g_pStepperRotate->setSpeedInUs(10); // the parameter is us/step !!!
+			g_pStepperRotate->setAcceleration(10000);
+			g_pStepperRotate->move(1000);
+			g_uiState++;
+			break;
+
+		case 1:
+			Log(String(g_uiState));
+			g_pStepperRotate->setSpeedInUs(10); // the parameter is us/step !!!
+			g_pStepperRotate->setAcceleration(10000);
+			g_pStepperRotate->move(-1000);
+			g_uiState++;
+			break;
+
+		case 2:
+			Log(String(g_uiState));
+			g_pStepperPen->setSpeedInUs(10); // the parameter is us/step !!!
+			g_pStepperPen->setAcceleration(10000);
+			g_pStepperPen->move(1000);
+			g_uiState++;
+			break;
+
+		case 3:
+			Log(String(g_uiState));
+			g_pStepperPen->setSpeedInUs(10); // the parameter is us/step !!!
+			g_pStepperPen->setAcceleration(10000);
+			g_pStepperPen->move(-1000);
+			g_uiState = 0;
+			break;
+
+		default:
+			break;
+		}
+		Log("Alive");
+	}
+#else
+	// moveOneStep();
+	setActiveProtocolContext(&SCmd, PROTOCOL_TRANSPORT_SERIAL);
+	SCmd.readSerial();
+	handleBleInterface();
+	handleWebInterface();
+	handleWifiProtocolInterface();
+#endif
+
+#ifdef penToggleButton
+	penToggle.check();
+#endif
+
+#ifdef motorsButton
+	motorsToggle.check();
+#endif
+
+#ifdef prgButton
+	prgButtonToggle.check();
+#endif
+}

src/motion_planner.cpp

@@ -0,0 +1,141 @@
+#include "motion_planner.h"
+
+XYMotionPlanner::XYMotionPlanner(FastAccelStepper* stepperX, FastAccelStepper* stepperY)
+    : m_x(stepperX), m_y(stepperY) {}
+
+void XYMotionPlanner::setBaseLimits(uint32_t maxSpeedHz, uint32_t maxAccelStepsPerS2) {
+  m_baseSpeedHz = max<uint32_t>(1, maxSpeedHz);
+  m_baseAccel = max<uint32_t>(1, maxAccelStepsPerS2);
+}
+
+void XYMotionPlanner::setMinimums(uint32_t minSpeedHz, uint32_t minAccelStepsPerS2) {
+  m_minSpeedHz = minSpeedHz;
+  m_minAccel = minAccelStepsPerS2;
+}
+
+void XYMotionPlanner::setCurrentPosition(int32_t x, int32_t y) {
+  m_currentX = x;
+  m_currentY = y;
+  m_targetX = x;
+  m_targetY = y;
+  if (m_x) {
+    m_x->setCurrentPosition(x);
+  }
+  if (m_y) {
+    m_y->setCurrentPosition(y);
+  }
+}
+
+int32_t XYMotionPlanner::currentX() const { return m_currentX; }
+
+int32_t XYMotionPlanner::currentY() const { return m_currentY; }
+
+bool XYMotionPlanner::isRunning() const {
+  bool rx = m_x ? m_x->isRunning() : false;
+  bool ry = m_y ? m_y->isRunning() : false;
+  return rx || ry;
+}
+
+void XYMotionPlanner::waitUntilFinished() {
+  while (isRunning()) {
+    delay(1);
+  }
+  m_currentX = m_targetX;
+  m_currentY = m_targetY;
+}
+
+bool XYMotionPlanner::moveTo(int32_t targetX, int32_t targetY) {
+  if ((m_x == nullptr) || (m_y == nullptr)) {
+    return false;
+  }
+
+  // Keep planner state in sync when the previous move already ended,
+  // but update() has not been called by the caller yet.
+  update();
+
+  m_targetX = targetX;
+  m_targetY = targetY;
+
+  int32_t dxSigned = m_targetX - m_currentX;
+  int32_t dySigned = m_targetY - m_currentY;
+
+  uint32_t dx = (dxSigned >= 0) ? dxSigned : -dxSigned;
+  uint32_t dy = (dySigned >= 0) ? dySigned : -dySigned;
+
+  if ((dx == 0) && (dy == 0)) {
+    return false;
+  }
+
+  uint32_t dmax = max(dx, dy);
+
+  // Skalierungsfaktoren relativ zur dominanten Achse
+  float sx = (float)dx / (float)dmax;
+  float sy = (float)dy / (float)dmax;
+
+  // Dominante Achse bekommt die Basiswerte
+  uint32_t speedX = scaledValue(m_baseSpeedHz, sx, dx);
+  uint32_t speedY = scaledValue(m_baseSpeedHz, sy, dy);
+  uint32_t accelX = scaledValue(m_baseAccel, sx, dx);
+  uint32_t accelY = scaledValue(m_baseAccel, sy, dy);
+
+  // Kurze Achsen mit Bewegung sollen nicht auf 0 fallen
+  if (dx > 0) {
+    speedX = max(speedX, m_minSpeedHz);
+    accelX = max(accelX, m_minAccel);
+  }
+  if (dy > 0) {
+    speedY = max(speedY, m_minSpeedHz);
+    accelY = max(accelY, m_minAccel);
+  }
+
+  // FastAccelStepper: speed in steps/s, accel in steps/s²
+  if (dx > 0) {
+    m_x->setSpeedInHz(speedX);
+    m_x->setAcceleration(accelX);
+  }
+  if (dy > 0) {
+    m_y->setSpeedInHz(speedY);
+    m_y->setAcceleration(accelY);
+  }
+
+  // Bewegungen anstoßen
+  // Reihenfolge ist hier meist ausreichend.
+  // Für "noch synchroner" müsste man tiefer in die Queue-API gehen.
+  if (dx > 0) {
+    m_x->moveTo(m_targetX);
+  }
+  if (dy > 0) {
+    m_y->moveTo(m_targetY);
+  }
+
+  return true;
+}
+
+bool XYMotionPlanner::moveBy(int32_t deltaX, int32_t deltaY) {
+  update();
+
+  // Chain relative moves reliably:
+  // - if running, append relative to the current planned target
+  // - if idle, use the current position
+  const int32_t baseX = isRunning() ? m_targetX : m_currentX;
+  const int32_t baseY = isRunning() ? m_targetY : m_currentY;
+  return moveTo(baseX + deltaX, baseY + deltaY);
+}
+
+void XYMotionPlanner::update() {
+  if (!isRunning()) {
+    m_currentX = m_targetX;
+    m_currentY = m_targetY;
+  }
+}
+
+uint32_t XYMotionPlanner::scaledValue(uint32_t base, float scale, uint32_t distance) {
+  if (distance == 0) {
+    return 0;
+  }
+  float v = (float)base * scale;
+  if (v < 1.0f) {
+    v = 1.0f;
+  }
+  return (uint32_t)(v + 0.5f);
+}

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tests/test_deploy_workflow.py

@@ -0,0 +1,23 @@
+import re
+import unittest
+from pathlib import Path
+
+
+class DeployWorkflowTests(unittest.TestCase):
+    def test_deploy_workflow_triggers_on_master_pushes(self):
+        workflow_path = Path(__file__).resolve().parents[1] / ".gitea" / "workflows" / "deploy-ftp.yml"
+        workflow_text = workflow_path.read_text(encoding="utf-8")
+
+        branch_block_match = re.search(
+            r"on:\s*\n\s*push:\s*\n\s*branches:\s*\n(?P<branches>(?:\s*-\s*[^\n]+\n)+)",
+            workflow_text,
+        )
+
+        self.assertIsNotNone(branch_block_match, "workflow should define push branches")
+        branches = re.findall(r"-\s*([^\n]+)", branch_block_match.group("branches"))
+
+        self.assertEqual(branches, ["master"])
+
+
+if __name__ == "__main__":
+    unittest.main()

tests/test_package_firmware.py

@@ -0,0 +1,83 @@
+import json
+import tempfile
+import unittest
+from pathlib import Path
+
+from scripts.package_firmware import build_manifest, extract_firmware_version, package_bundle
+
+
+class PackageFirmwareTests(unittest.TestCase):
+    def test_extract_firmware_version_reads_init_string(self):
+        header_text = '#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6a"\n'
+
+        self.assertEqual(extract_firmware_version(header_text), "1.6a")
+
+    def test_build_manifest_matches_expected_esp32_offsets(self):
+        manifest = build_manifest("1.6a")
+
+        self.assertEqual(manifest["name"], "EggDuino ESP32 Firmware")
+        self.assertEqual(manifest["version"], "1.6a")
+        self.assertTrue(manifest["new_install_prompt_erase"])
+        self.assertEqual(manifest["builds"][0]["chipFamily"], "ESP32")
+        self.assertEqual(
+            manifest["builds"][0]["parts"],
+            [
+                {"path": "bootloader.bin", "offset": 4096},
+                {"path": "partitions.bin", "offset": 32768},
+                {"path": "boot_app0.bin", "offset": 57344},
+                {"path": "firmware.bin", "offset": 65536},
+            ],
+        )
+
+    def test_package_bundle_copies_outputs_and_removes_stale_files(self):
+        with tempfile.TemporaryDirectory() as temp_dir:
+            temp_path = Path(temp_dir)
+            build_dir = temp_path / "build"
+            build_dir.mkdir()
+            header_path = temp_path / "EggDuino.h"
+            output_dir = temp_path / "firmware"
+            output_dir.mkdir()
+            boot_app0_path = temp_path / "boot_app0.bin"
+
+            build_artifacts = {
+                "bootloader.bin": "bootloader",
+                "partitions.bin": "partitions",
+                "firmware.bin": "firmware-bin",
+                "firmware.elf": "firmware-elf",
+                "firmware.map": "firmware-map",
+            }
+            for file_name, contents in build_artifacts.items():
+                (build_dir / file_name).write_text(contents, encoding="utf-8")
+
+            header_path.write_text(
+                '#define initSting "EBBv13_and_above Protocol emulated by Eggduino-Firmware V1.6b"\n',
+                encoding="utf-8",
+            )
+            boot_app0_path.write_text("boot-app0", encoding="utf-8")
+            (output_dir / "stale.txt").write_text("old", encoding="utf-8")
+
+            package_bundle(
+                build_dir=build_dir,
+                boot_app0_path=boot_app0_path,
+                header_path=header_path,
+                output_dir=output_dir,
+            )
+
+            self.assertFalse((output_dir / "stale.txt").exists())
+            expected_files = {
+                "bootloader.bin": "bootloader",
+                "partitions.bin": "partitions",
+                "firmware.bin": "firmware-bin",
+                "firmware.elf": "firmware-elf",
+                "firmware.map": "firmware-map",
+                "boot_app0.bin": "boot-app0",
+            }
+            for file_name, contents in expected_files.items():
+                self.assertEqual((output_dir / file_name).read_text(encoding="utf-8"), contents)
+
+            manifest = json.loads((output_dir / "manifest.json").read_text(encoding="utf-8"))
+            self.assertEqual(manifest["version"], "1.6b")
+
+
+if __name__ == "__main__":
+    unittest.main()