CNC Motion Control • ESP32-S3 • grblHAL • CAD/CAM • Computer Vision • Automation
I build practical systems where mechanics, electronics, firmware and software have to work together on real machines.
Project Alfa is my long-term autonomous robotic woodworking workshop project.
The target is a modular production chain where the machine does more than execute G-code:
CAD → CAM → motion control → sensing / vision → automation → production
The work spans CNC mechanics, embedded control, ESP32 firmware, custom CAM, computer vision, laser systems, 3D printing and production automation.
I am currently developing and physically testing an experimental ESP32-S3 motion stack for grblHAL.
The work explores:
- analytic S-curve / jerk-limited motion
- Fixed-Time Motion at a 1 kHz sampling grid
- ZV input shaping
- trajectory smoothing
- ESP32-S3 STEP/DIR integration
- host-side motion, timing and safety regression tests
The work is being discussed publicly with the grblHAL project:
- grblHAL Discussion #222: ESP32-S3 experimental motion stack
- Review branch: experimental-motion-s3
- Full experimental snapshot: ESP32-Experimental
Current hardware status: initial tests on a real CNC show smoother and quieter NEMA23 motion with TB6600-class drivers. Performance tuning and broader physical acceptance testing are still in progress.
| Project | What it is | Stack / focus |
|---|---|---|
| ESP32-Experimental | Experimental grblHAL motion-control stack for ESP32-S3 | C, ESP-IDF, grblHAL, S-curve, FTM, input shaping |
| ESP32 | My grblHAL ESP32 fork used for upstream-comparable development | C, ESP32-S3, grblHAL |
| Cam-slicer-2.0 | Custom CAM / machine workflow tooling with GRBL sender, probing and vision integration | Python, CAM, G-code, FastAPI |
| Vision-cnc | CNC vision subsystem with YOLO segmentation, calibration and operator tooling | Python, YOLO, OpenCV, PySide6 |
| Polarne-cnc | SVG-to-polar GRBL laser workspace | Python, PySide6, GRBL, geometry |
| Web-vizualizer | Browser-based visual editor for arranging decorative elements | JavaScript, Node.js |
- CNC motion planning, jerk control and STEP/DIR execution
- ESP32 / ESP32-S3 firmware and hardware integration
- grblHAL experiments and machine-control features
- custom CAD/CAM workflows and G-code generation
- Python tooling, APIs and production automation
- computer vision for CNC and robotics
- laser systems, sensors and embedded electronics
- AI-assisted engineering workflows
I prefer systems that can be built, measured and tested on hardware.
A typical loop is:
prototype → instrument → test → break assumptions → fix → automate → repeat
Software-only validation is useful, but the final judge is the machine.
ESP32 ESP32-S3 grblHAL C C++ Python FastAPI PySide6 OpenCV YOLO Onshape FeatureScript G-code CNC Laser 3D Printing Automation
Róbert Hagovský • Slovakia
Build it. Measure it. Break it. Fix it. Automate it.