PWM Quick Start

For the ESP32-S3 + 8-channel PWM servo version. See the chapter links for full details.

1. Wiring

• Plug the 8 PWM servos into the adapter board's servo 1–8 headers according to their numbers.
• Connect the adapter board's PWM1–8 to ESP32-S3 GPIO 4, 5, 6, 7, 15, 16, 17 and 18.
• Connect the adapter board's 5V/GND to a 5V/3A power supply, with a common ground to the ESP32.
• Detailed wiring: PWM wiring, GPIO and power.

The servos must be PTK 7452 MG-D digital servos (333 Hz) or equivalent; 50 Hz analog servos such as the SG90 cannot be used as direct replacements.

2. Flash the firmware

Option A: prebuilt bin (recommended)

python -m esptool --chip esp32s3 -p COM3 -b 460800 write_flash 0x0 \
  AmazingHand-PWM/firmware/prebuilt/amazinghand_pwm.bin

Option B: ESP-IDF build

cd AmazingHand-PWM/firmware/AmazingHand_Serial
idf.py set-target esp32s3
idf.py build
idf.py -p COM3 flash monitor

Firmware project structure:

firmware/AmazingHand_Serial/
├── main/main.c                  FreeRTOS tasks, command queue and initialization
└── components/
    ├── hand_servo/              LEDC PWM driver and servo calibration
    ├── hand_gestures/           Gesture parameter macros and gesture functions
    └── hand_protocol/           Serial frame parsing and command dispatch

The ESP-IDF build does not support Chinese characters in paths: both the project directory and the user directory must use English characters. ESP-IDF v5.x / v6.x is recommended, and the target chip must be ESP32-S3.

After power-up the serial port should print:

AmazingHand Serial Control Ready (ESP-IDF)
Protocol: 115200-8N1 [0xAA CMD LEN DATA CKSUM]

3. Connect the host

Method	Entry point
Desktop GUI	PWM desktop host software: python AmazingHand-PWM/tools/hand_gui.py
Web control	PWM web control: select driver PWM (ESP32-S3), serial port 115200
Command-line test	python AmazingHand-PWM/tools/serial_test.py COM3 nop

4. First motion

1. After connecting, the firmware first returns to the middle position (90°); confirm there is no abnormal noise or binding.
2. Use the single-finger sliders to check the direction and middle position one finger at a time.
3. Then try small-range poses such as "open / fist".
4. If a direction is reversed or the middle position is off, adjust it as described in PWM protocol and calibration.

Next steps

• PWM protocol and calibration
• PWM hand tracking
• Version comparison and selection