A project to assist over-caffeinated electrical engineers in soldering.

View the Project on GitHub

View the Main Harma Project Page

View the Pensel Project Page

View the Pensel Firmware Documentation


Pensel, or brush/pencil in Swedish, is the device the user interfaces with to control the robotic arms. It is this sub-component that I will first tackle to make the whole system. The design as it stands is as follows:

There will be one unified design to control the iron, solder, and/or wire/components. As such, there must be a generic control methodology built into the Pensel. The Pensel will have as follows:

  1. A three position toggle switch for the user to indicate what mode the Pensel is operating in (Soldering iron, solder, or wire/component).
  2. One push button to indicate that we are actively moving and want the robot to respond
  3. Another push button to do the action supported by the mode. For example:
    • Feed solder
    • Feed wire
    • release component

Hardware Basics

Software Design

Below is an overview of all of the modules in the system.

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Below is an overview of the control and call structure of the system.

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