Overview
Fabrica is a Raspberry Pi Pico-based robotic control system designed to automate laundry folding. By utilizing a scalable architecture of hinged panels and servo motors, Fabrica executes complex, human-like folding patterns with a single button press.
Whether you are folding t-shirts, trousers, or towels, Fabrica's modular design allows you to arrange motorized, follower, and base panels to create the perfect rig for any garment.
Key Features
- Modular Panel System: Uses a mix of motorized panels, follower panels (hinged), and base panels that can be rearranged for different garment types.
- Fully 3D Printable Design: Every mechanical part—from the folding panels to the hinges—is designed to be 3D printed, making it easy to build, repair, and customize the machine at home.
- Parallel Motor Execution: Capable of moving up to 4 motors simultaneously within a single step (e.g., folding both sleeves at once).
- High Scalability: Supports up to 16 motorized panels. 16 independent servo motors for precise control.
- Raspberry Pi Pico 2W Core: Powered by the efficient RP2040 microcontroller running MicroPython.
- PC-Free Operation: Runs entirely as a standalone unit; no computer connection is required for daily use.
- On-Device Programming: Features a "Config Mode" to record new folding sequences directly using the physical buttons.
- Interactive "Teach" Interface: Users select motors by tapping buttons a specific number of times.
- Persistent Storage: Motion plans are saved to non-volatile flash memory, retaining settings after power loss.
- Sequential Step Logic: Capable of chaining multiple steps together (e.g., side fold first, then bottom fold).
- Smart LED Feedback: Integrated LED indicates system states, config mode status, and save confirmation via blink patterns.
Documentation
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