Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

step/dir firmware for the polargraph kritzlerbot

by Lanthan, published

step/dir firmware for the polargraph kritzlerbot by Lanthan Feb 5, 2012



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I like the polargraph controller

but its current choice of electronics somewhat limits the choice and size of stepper motors one can use.

I went with stepstick drivers with 1/16 microstepping and modded the polargraph firmware to work with step/direction drivers.

Note: my printed files are here: http://www.thingiverse.com/thing:16692


UPDATED 20120207 on github and here: C17, positioning and vector stuff now fully working!

Works with Arduino 1.0 and the latest Accelstepper libraries.

Posted on github:

See discussion here:



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hola me podría decir por favor como es la conexión de los a4988 y arduino uno o el esquema eléctrico? desde ya muchas gracias y felicitaciones por su trabajo

Aug 2, 2014 - Modified Aug 4, 2014

I have the polargraph constructed and the program polargraph4dirstep loaded into my arduino uno
The only thing I see is that the servo move , not the led or steppermotor
My question might be stupid but how can I get the steppermotors move and what do I need to draw a example picture with the polargraph

Can I use polargraph-controller with this software or which firmware must I use for the polargraphcontroller ???????

Can anyone help me

Kind regards

Interesting..I need to make one..I want to implement the software on my own but have a question regarding the bezier curve.For plotting them, what is the largest distance between two points that yield good results?I am assuming the lesser the number of points the easier to draw but the end result might be skewed.

i am trying it on my gen 6 and the motors are not moving. i tried going and high and low on enable pins but no change

what host software to use

WOW! I guess this would mean way better quality and speed as well in the end?

For speed: not so sure since the device is naturally oscillation-prone.

Acceleration may help cope with this, but the current accelstepper library is a limiting factor. Incorporating Marlin-like acceleration and planner would be a most promising way to go... with enough time and a good understanding of code.

"Quality" isn't bad at all in the current state, position
ing and repeatability are already sub-millimetric for a large part of the area. In theory it could well go under 0.1 mm
For artistic effects and big drawing markers it may not even matter that much, some form of randomness may be even welcome.

Larger print area: indeed a plus, drivers allow for an
increased choice of larger motors. The adafruit motor shield isn't bad but even with a couple chips superposed there is limited power to drive large contraptions with higher belt/bead chain tensions.

There's a world of options to explore... 8-)

Yes indeed! I mean, different tools for drawing as well; airbrush, laser just a matter of timeI look forward to when there is a easyly to etch pcb! Keep up the Fine Free work!

I guess one can use something like delineate* for raster-svg?

The problem with making stuff is that is is addictive as hell. It never ends. Once you have a drawbot/polargraph all you want is a large cartesian table with a big badass CO2 laser.

Euphy's work on the polargraph controller is fantastic. But to answer your question: SVG manipulation and interpretation is still very limited.

I have been having great fun with stipples and TSP drawings.
Some other stuff might be adapted easily, such as pointillist style pixels (to exert the p
en up-pen down servo).

Drawing circuit boards: might be doable with a microstepping polargraph (fat traces, no SMD stuff), but there are more straightfoward methods.
An X-Y plottter is not hard to build with old printer
amp; scanner parts (hunt for old epsons, the older the better) and scavenged stuff, did one a couple of years ago: http://korovievskitchen.blogspot.com/http://korovievskitchen.blogsp...

I tend to mill my boards, but for one shots like a two stepper plus atmega
amp; ancillary stuff, stripboard is as good (and faster).

For high precision placement (a la tech drawing) , there are bipod kinematics files for emc (linuxcnc). Found a recent update here:


Those would work with gcode toolchains, and would require driving the contraption through the paralllell port, with an RT linux installation.