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

Spherebot firmware for Maple board from LeafLabs

by CidVilas, published

Spherebot firmware for Maple board from LeafLabs by CidVilas Dec 1, 2012


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7715Views 628Downloads Found in Robotics


I wanted to build a SphereBot/Eggbot, but i did not possess the Arduino or the extra Pololus. However, i had a Maple board from LeafLabs and a bunch of EasyDrivers from Sparkfun sitting idle. It was time to put it to use! The GCode interpreter is mostly from the Reprap 5D firmware. The motion control was written by me, so there may be some strange behavior at times. There are definitely places where the code could be optimized. There is no queue for commands, and the system will not send an 'ok:' until the position requested has been reached. Due to some 'intense' mathematics, there may be stuttering when the lines are streamed too fast.

If the board receives a command it does not recognize, it locks up. Ill fix that at some point.

I am embarrassed at my coding skills. It has been a while since i last coded so im a bit rusty.


Currently, the firmware is configured for the following:
pin 0 - Servo pin
pin 8 - Y Direction
pin 9 - Y Step
pin 10 - X Direction
pin 11 - X Step

Follow the same instructions as provided by Zaggo. Big thanks to him for doing alot of the leg work.
Visit Zaggo's web blog:

Since this design operates on Steps, and not millimeters, i have the firmware automatically round values to the lowest integer using Floor(). This may cause for some funky results, as seen in the Superman logo.

The following were used here:
1x 9g Servo
2x Stepper Motor

1x Maple r5:

1x EasyDrivers:

UPDATE: Fixed some code. Working on the coordinates. Circles look oval-ish...

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