Ryan Malloy
e21219be8d
- Starlight documentation for mcnanovna and mcpositioner - 19 pages covering tools, prompts, hardware, and tutorials - Docker deployment with dev/prod modes - Makefile for docker compose management - Custom SVG logos and hero illustration
90 lines
5.1 KiB
Plaintext
90 lines
5.1 KiB
Plaintext
---
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title: mcpositioner Overview
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description: MCP server for ESP32 dual-axis antenna positioner
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---
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import { Aside } from '@astrojs/starlight/components';
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mcpositioner gives AI assistants control of an ESP32-based dual-axis antenna positioner over WiFi. It drives two NEMA 17 stepper motors via TMC2209 drivers for theta (polar, 0-180°) and phi (azimuth, 0-360°) rotation.
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## Purpose
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Automated 3D antenna radiation pattern measurement. The positioner physically rotates an antenna under test through a theta/phi grid while a VNA measures transmission (S21) at each position.
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## Capabilities
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- **Absolute positioning**: Move to any theta/phi coordinate
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- **Relative moves**: Offset from current position
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- **StallGuard homing**: Sensorless homing using TMC2209 stall detection
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- **Emergency stop**: Immediate motor halt
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- **Motion tuning**: Configurable speed, acceleration, microstepping
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## Hardware Requirements
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| Component | Specification |
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|-----------|--------------|
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| Controller | ESP32 DevKit (any variant) |
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| Drivers | 2x TMC2209 in UART mode |
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| Motors | 2x NEMA 17 (0.9° or 1.8° step) |
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| Power | 24V for motors, 5V for ESP32 |
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<Aside type="tip">
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Full build instructions and KiCad schematics are in the [Hardware section](/hardware/positioner-build/).
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</Aside>
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## Architecture
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```
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┌─────────────────────────────────────────────────────────┐
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│ Claude Code │
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│ │ │
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│ MCP Protocol │
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│ ▼ │
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│ ┌─────────────────────────────────────────────────┐ │
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│ │ mcpositioner server │ │
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│ │ ┌─────────────┐ ┌─────────────────────┐ │ │
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│ │ │ tools.py │ │ positioner.py │ │ │
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│ │ │ 5 tools │─────▶│ httpx client │ │ │
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│ │ └─────────────┘ └──────────┬──────────┘ │ │
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│ └─────────────────────────────────────────────────┘ │
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│ │ │
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│ WiFi HTTP │
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│ ▼ │
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│ ┌──────────────────────────────────────┐ │
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│ │ ESP32 Firmware │ │
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│ │ ┌─────────┐ ┌──────────────────┐ │ │
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│ │ │AccelStep│ │ESPAsyncWebServer │ │ │
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│ │ └────┬────┘ └────────┬─────────┘ │ │
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│ │ │ HTTP API │ │
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│ │ ▼ │ │
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│ │ ┌─────────────────────────────┐ │ │
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│ │ │ TMC2209 UART (StallGuard) │ │ │
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│ │ └──────────┬──────────────────┘ │ │
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│ └─────────────│────────────────────────┘ │
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│ ▼ │
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│ ┌──────────────────────────────────────┐ │
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│ │ NEMA 17 Steppers (θ and φ axes) │ │
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│ └──────────────────────────────────────┘ │
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└─────────────────────────────────────────────────────────┘
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```
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## Network Discovery
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The ESP32 firmware advertises itself via mDNS as `positioner.local`. Override with the `MCPOSITIONER_HOST` environment variable if your network doesn't support mDNS or you have multiple positioners.
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```bash
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# Use IP address instead of mDNS
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MCPOSITIONER_HOST=192.168.1.100 uvx mcpositioner
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```
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## Cross-Server Workflow
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mcpositioner works with [mcnanovna](/mcnanovna/overview/) for automated pattern measurement:
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1. **mcpositioner**: Move antenna to theta/phi position
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2. **mcnanovna**: Measure S21 transmission
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3. **Repeat** across the measurement grid
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4. **Assemble** pattern from collected data
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The `measure_pattern_grid` prompt guides this workflow step by step.
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