Version History

With version 0.7.0, the way controllers are handled has changed in several key ways:

  • Previously, the controller type was selected via the corresponding library, e.g., ftSwarm-rs. With the new version, the controllers are available as boards in Arduino or PlatformIO and now use only a single shared ftSwarm library. Please configure your Arduino IDE or VSCode/Platform-IDE accordingly.
  • You no longer need to compile the firmware for the swarm members yourself. You can easily flash the firmware via this website. When upgrading to version 0.7.0, only the Wi-Fi and swarm settings will be retained for technical reasons.
  • Motors are now controlled at speeds between “-100” and ‘100’. Each motor class, such as FtSwarmXSMotor, has a predefined motor characteristic curve, so that a motor with no mechanical load starts at speed “1”. It is therefore important to use the correct motor class. For stepper motors, the range of -4096 to 4096 still applies.
  • On the ftSwarmControl, almost all settings can also be adjusted via the OLED display. In the new Remote Control Mode, standard models can be configured without programming.
  • Blinkeffect with ftSwarmLamp and ftSwarmPixel.

Version 0.7.0 08/2026

Features:

  • Switch to official Arduino/PIO boards
  • Firmware updates via the website
  • Motor characteristics: Motors are now controlled in the range of -100 to 100 (except for stepper motors: -4096 to 4096). Thanks to the motor characteristics, the motor spins without mechanical load starting at speed 1.
  • ftSwarmControl: Firmware can be configured via the built-in OLED display
  • Wi-Fi password
  • New status page/WebUI
  • Reset controller to factory settings without a serial console
  • OLED menus
  • New controller types: ftSwarmRC and ftSwarmControlUSBC
  • New servo type: RC servo
  • New motor types: RC motor, wheel drive
  • Blinkeffect with ftSwarmLamp and ftSwarmPixel

Version 0.6.2 05/2024

Features:

  • I2C-Communication with TXT-Controllers
  • Firmware/Swarm Communication: Invite Controller
  • Firmware/Swarm Communication: Reject Controller
  • ftSwarmFrequencyMeter & ftSwarmCounter could be used as remote sensors as well.

Bugfixes:

  • Using analogous sensors, the controller rebooted spontaneously.

Version 0.6.1 04/2024

Bugfixes:

  • Servo instabilities fixed
  • I2C frequency error fixed

Version 0.6.0 02/2024

The swarm creation protocol has been changed. Please create a new swarm after applying the update.

Features:

  • Support for the new controller types ftSwarmXL, ftSwarmPwrDrive and ftSwarmDuino.
  • New sensor types FtSwarmFrequencyMeter and FtSwarmCounter
  • At the Kelda firmware you can now add a Swarm Member to the swarm.
  • Servos can be used for remote control and event programming.
  • The transmission speed can be reduced for models with long RS485 cable lengths.

Bugfixes:

  • Stability improvements when starting a swarm.
  • Alias names of servos are saved correctly.

Be sure to follow the upgrade instructions of version 0.5.0!

Version 0.5.4 12/2023

This version contains bugfixes when addressing remote IOs via alias names. Please note the upgrade instructions for version 0.5.0!

Version 0.5.3 11/2023

This version contains bugfixes for the control of motor outputs. Please note the upgrade instructions for version 0.5.0!

Version 0.5.2 11/2023

This is a bugfix versions due to some hardware issues with ftSwarmControl. Be sure to follow the upgrade instructions of version 0.5.0!

Version 0.5.0 11/2023

In the previous versions, the controller on which the control program was started with ftSwarm.begin was the Kelda. However, this led to some communication problems. Therefore, the Kelda controller is now already defined at firmware level.

(1) Kelda upgrade

  • First carry out the upgrade on your Kelda controller and install the normal firmware there.
  • Switch to the interactive firmware menu. In (2) swarm configuration, use the (1) Kelda menu item to set this controller to Kelda mode.
  • After restarting the Kelda, it will no longer automatically switch to the configuration menu. Enter the command setup.
  • Now create a new swarm with (3) create a new swarm.

(2) Upgrade swarm members

  • Now carry out the upgrade on all Swarm members in turn by installing the new firmware version.
  • In the interactive firmware menu, select (2) swarm configuration and join the new swarm with (3) join to existing swarm.

(3) Upgrade your existing programs

  • Please note that ftSwarm, ftSwarmRS and ftSwarmControl now have their own libraries. Use the corresponding include statements in your project - ftSwarmRS #include <ftSwarmRS.h>, ftSwarm #include <ftSwarm.h>, ftSwarmControl #include <ftSwarmControl.h>
  • Previously, the Kelda was defined by starting the swarm with ftSwarm:begin. This is now done at firmware level, as described above. If you now run your program on a swarm member, you will receive an error message and the swarm will stop.
  • The optional parameter verbose at ftSwarm:begin determines whether detailed information is to be output when the swarm is started.

The swarm members in the swarm only “know” their Kelda. This is why the swarm members only display swarms with 2 members. The Kelda must of course know all swarm members and displays the correct number of controllers in the swarm in the firmware.

In the Web UI, the entire Swarm is only displayed on the Kelda. The other controllers only show their own status.

New in this version:

  • Support for ftSwarmRS.
  • Python integration ftSwarm.py
  • Direct control of the IOs in the CLI via the serial interface. For detailed information, type help in the interactive mode of the serial port.
  • New web UI.
  • The ftSwarm protocol has been improved. Therefore upgrade to version 0.5.0 for all controllers in Swarm!
  • Many stability bug fixes.

Version 0.4.2 11/2022

  • new OLED type support

Version 0.4.1 11/2022

  • remote motors couldn’t handle negative speed values
  • remote led’s didn’t work properly
  • supress “ghost” toggles on ftSwarmControl buttons during startup
  • ESP Board defintion V2.0.5 is stable now. Future development will be based on 2.0.5.
  • Arduino IDE 2.0.2 is stable now.

Version 0.4.0 07/2022

Please use ESP32 Board definition V2.0.4. New 2.0.5 isn’t stable with ftSwarm.

  • Servo’s alias name is now saved in NVS.
  • Support of 2 internal and 16 external RGB LEDs.
  • Showing the IP address correctly.
  • Negative speed switches rotation movement.
  • wifi won’t go to sleep mode
  • Changed AP mode parameters

Version 0.3.0 07/2022

Version 0.2.0 05/2022

  • Redesign of ftSwarm Web-UI.
  • Support of ftSwarmControls OLED display.
  • Up to 14 ftRGBLeds could be connected externally.
  • Detailed swarm & device status at ftSwarmControl’s OLED display.
  • New class FtSwarmLightBarrier.
  • New class FtSwarmXMMotor.
  • New class FtSwarmValve.
  • New class FtSwarmCompressor.
  • New class FtSwarmBuzzer.
  • Extended swarm communication using flexible packet sizes.
  • Bugfix: Sending alias names to Kelda.

Version 0.11.0 04/2022

Some bugfixes.

Version 0.10.0 03/2022

First official version.