GyroCube Core (Legacy v1.0)

Overview

GyroCube is a wireless tangible interface for music and media art, based on ESP32 and IMU sensor fusion. It transmits orientation data (Quaternions) via OSC over UDP to any compatible software (Max/MSP, TouchDesigner, Unity, etc.).

🖼️ Gallery

Design Overview	Exploded View

PCB Layout	Case Assembly

Open Hardware Prototype Evolution (2023)

📸 Gallery

Core Module	Charging	Live Demo	Final Stack

Case Parts	Assembly	Structure	Full Kit

---

🚀 Features

• Wireless OSC Transmission: Real-time data streaming over WiFi.
• IMU Sensor Fusion: Stable quaternion data using Madgwick/Kalman filtering.
• Deep Sleep Mode: Battery saving with wake-up on motion/button.
• Web Interface: Easy configuration of WiFi and OSC targets (no hardcoding needed).

🛠️ Hardware & Pinout

Microcontroller: ESP32 (WROOM/DevKit)
IMU Sensor: MPU-9250 (I2C)

Pin Configuration

Component	ESP32 Pin	Note
MPU-9250 SDA	GPIO 21	I2C Data
MPU-9250 SCL	GPIO 22	I2C Clock
Main Button	GPIO 4	Wake up / Function
AP Switch	GPIO 32	Toggle Access Point Mode
Battery	VIN	3.7V LiPo (via TP4056)

(See full schematics in hardware/pcb/schematics/)

📥 Installation & Setup

1. Firmware:

   • Open firmware/GyroCube_v1/GyroCube_v1.ino in Arduino IDE.
   • Install required libraries (see dependencies).
   • Select Partition Scheme: "No OTA (Large APP)" (Important!).
   • Upload to ESP32.

2. Configuration (First Run):

   • Switch the AP Toggle (GPIO 32) to ON position.
   • Connect to WiFi network: GyroCube_<ID> (Password: 123454321).
   • Open browser at http://192.168.1.4.
   • Enter your WiFi credentials and Target IP (computer running Max/MSP).
   • Save and Reboot.

3. Software:

   • Open software/MaxMSP/GCube_Receiver.mxf.
   • You should see incoming quaternion data.

📦 Bill of Materials (BOM)

Full component list is available here: Download BOM CSV.

Key Components:

• MCU: ESP32-WROOM-32D
• IMU: MPU-9250 (via I2C)
• Power: TP4056 Charger + 3.7V LiPo Battery
• Switch: Slide Switch (SPDT) & Tactile Button (6x6mm)
• LEDs: 3mm Red/Green Common Anode

🏗️ Fabrication

• PCB: Gerber files ready for manufacturing are available in hardware/pcb/production/.
• Case: 3D printable STL files are in hardware/mechanical/stl/.

⚖️ Legal Notice & Prior Art:
This project represents legacy R&D work (2020–2023). The core technology is based on research published in Springer Nature (July 2023) and serves as a Defensive Publication.
For detailed IP status, priority proofs, and patent notices, please refer to LEGAL.md.

---

License: Apache 2.0. See LICENSE for details.