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PART 2 IS OUT: the arm now has a ROS 2 digital twin - URDF from Fusion 360, running in RViz and Gazebo Harmonic. Watch it here: https://youtu.be/Auccq-NI4vI A PlayStation 3 controller talking straight to the ESP32 inside a 3D printed robot arm. No PC, no phone, no WiFi, no app. Two thumbs move six joints and a gripper, and one button freezes everything. CHAPTERS 0:00 Sliders vs sticks: why the app had to go 1:01 What a game controller actually changes 1:53 Which controller works, and what the ESP32 does 2:59 Install the Bluepad32 board package 3:35 Flash it and read the boot log 4:48 Why a DualShock 3 needs the Bluetooth address 5:10 SixaxisPairTool: one field, one click 5:54 The controls: sticks, D-pad, gripper 6:26 Four speed levels and the analog gas pedal 7:09 Recording a pose sequence and looping it 8:36 Why the motion is smooth: dead zone, expo, braking 9:20 The safety layer: latched stop and disconnect 9:49 Confirming the pose after a power cut 10:10 Changing the mapping in gamepad_config.h 10:39 What comes next: the digital twin In Part 1 this arm was driven from a browser: seven sliders on a phone screen. A slider is a position, and that is the wrong tool for driving. Here the sliders are replaced by velocity control from a game controller: dead zone, expo curve, four speed levels and an analog gas pedal, a pose sequence that plays in a loop and survives a power cut, and an emergency stop that latches until you clear it. It works with DualShock 3, DualShock 4, DualSense, Xbox and Switch Pro controllers through Bluepad32. No robotics degree needed. If you can flash an ESP32 from the Arduino IDE, you can follow every step. OMARM ONE SERIES Part 1: Build the 7-DOF arm on real ball bearings: https://youtu.be/kEEwkNeE9UQ Part 1.5 (this video): Game controller straight to the ESP32 Part 2: Digital twin, URDF in RViz and Gazebo (coming soon) Part 3: MoveIt 2 on real hardware (coming soon) Part 4: Computer vision pick and place (coming soon) NEW HERE? START WITH OMARM ZERO The smaller ESP32 arm, four parts from the build to computer vision: https://www.youtube.com/playlist?list=PLAcC-qA5Cw-g WHAT YOU WILL LEARN Why a stick beats a slider for driving a robot arm Which game controllers work with an ESP32, and which never will Installing the Bluepad32 board package in the Arduino IDE Flashing the gamepad firmware and reading the boot log Finding the ESP32 Bluetooth address and pairing a DualShock 3 SixaxisPairTool: one field, one click The default mapping: sticks, D-pad, gripper, speed levels Four speed levels plus an analog gas pedal on the trigger Recording a pose sequence and playing it back in a loop Why the motion is smooth: rest tracking, dead zone, expo curve, braking distance The safety layer: latched emergency stop, disconnect handling, confirm after power loss Remapping every button in gamepad_config.h with the mapper tool LINKS Blog post, the full written guide: https://omartronics.com/ps3-controller-esp32-robot-arm/ Build guide (Part 1): https://omartronics.com/3d-printed-robot-arm-omarm-one-7-dof-ball-bearings/ Firmware and mapper tool (MIT): https://github.com/OmArTronics/OmArm-One Complete package (Part 1 + Part 1.5), STL, CAD, both firmwares, both PDF guides: https://omartronics.com/product/omarm-one-robot-arm-complete-package/ Bluepad32 documentation: https://bluepad32.readthedocs.io/ OmArm Zero series playlist: https://www.youtube.com/playlist?list=PLAcC-qA5Cw-g OmArm Zero build guide: https://omartronics.com/omarm-zero-build-5-dof-robotic-arm-esp32-web-control/ Website: https://omartronics.com HARDWARE IN THIS VIDEO ESP32 DevKit, classic ESP32-WROOM or WROVER (it needs Bluetooth Classic) PCA9685 16-channel servo driver 6x DS3240 servos plus one SG90 gripper servo Sony DualShock 3, or DualShock 4, DualSense, Xbox, Switch Pro 5V power supply sized for the servos MUSIC (royalty-free, credited per license) "Crimson Fly" by Huma-Huma YouTube Audio Library, no attribution required "Blue Skies" by Silent Partner YouTube Audio Library, no attribution required "Way Home" by Tokyo Music Walker https://www.youtube.com/watch?v=pJThZlOuDtI Licensed under Creative Commons Attribution 3.0 https://creativecommons.org/licenses/by/3.0/ Track: Jim Yosef - Link [NCS Release] Music provided by NoCopyrightSounds Free Download/Stream: https://ncs.io/link Watch: https://www.youtube.com/watch?v=9iHM6X6uUH8 Subscribe for the rest of the series: https://www.youtube.com/@OmArTronics-plus?sub_confirmation=1 #robotarm #esp32 #ps3controller #bluepad32 #3dprinting #robotics #arduino #diyrobot #omarmone #robotarmtutorial

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