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README.md

Overview

This repository contains the firmware for a custom-built automated electric armchair.
Detailed project information and documentation is available on the website:

Note: In the current version V2.2, only the esp-project in the board_single/ folder and the custom libraries in common/ are used.
The projects in the folders board_control/ and board_motorctl/ are no longer compatible and are legacy from V2.1.

Photo machine
Photo of the built frame that carries the armchair


Current Features

  • Control Modes:
    • Joystick: Control movement via hardware joystick mounted on the right armrest
    • HTTP: Control movement via virtual joystick on a web interface
    • Massage: Armchair shaking depending on stick position
    • Adjust: Control leg and backrest position via joystick
    • Auto: Execute stored driving commands sequentially
  • Advanced Motor Control:
    • Deceleration limit
    • Acceleration limit
    • Current limit
    • Braking
    • Compatible with different motor drivers:
      • 3 pins: A, B, PWM - e.g. various common H-Bridges
      • 1 pin: UART/RS232 - e.g. Sabertooth
  • Input/Sensors:
    • Speed Measurement: Measures speed and direction of each tire individually using custom built encoders
    • Current Measurement: Monitors current of each motor
    • Battery Voltage: Measures battery voltage and calculates percentage according to discharge curve
    • Analog Joystick:
      • Evaluate two analog signals to get coordinates, radius and angle
      • Calibration wizard/sequence
      • Calibration stored persistently in nvs
  • Fan Control: Cooling fan for motor driver are activated when needed only
  • Buzzer: Provides acoustic feedback when switching modes or interacting with menu
  • OLED-Display + Rotary-encoder:
    • Various status screens showing battery status, speed, RPM, motor current, mode, power, duty cycle, stick data
    • Menu for setting various options using encoder
    • Changed settings are stored persistently in NVS flash
    • Menu for selecting the control mode
  • UART Communication between 2 Boards (V2.1)
  • Electric Chair Adjustment: Control 4 Relays powering motors that adjust the chair rest positions
  • Wi-Fi:
    • Hosts wireless network
    • Web server with webroot in SPIFFS
    • HTTP API for controlling the chair (remote control)
  • React web-app: Virtual joystick sending data to http-API (placed in SPIFFS)

Planned Features

Hardware

  • More Sensors:
    • Accelerometer
    • Lidar sensor / collision detection
    • GPS receiver
    • Temperature sensors
  • Lights
  • Camera

Algorithms

  • Anti-Slip Regulation
  • Self-Driving Algorithm

UI

  • Improved Web Interface
    • Settings
    • Chair adjustment
  • Simple App

Hardware Setup / Electrical

Control-PCB

The firmware is designed for an ESP32 microcontroller integrated into a custom PCB developed here: Project Work 2020

Connection Plan

A detailed diagram illustrating all components and wiring can be found in the file connection-plan.drawio.pdf.
For more details refer to the documentation on the website.

Chair-Adjust Relay-Board

A custom pcb with relays and protection for controlling the 2 motors that adjust the rest positions of the armchair was created in this repository as well: Date: 2024.09.08
Folder: hardware/chairAdjust-relayBoard
Schematic: hardware/chairAdjust-relayBoard/export/schematic.pdf



Installation

Install ESP-IDF

For this project ESP-IDF v4.4.4 is required

#download esp-idf
yay -S esp-idf #alternatively clone the esp-idf repository from github
#run installation script in installed folder
/opt/esp-idf/install.sh

Clone Repository

git clone git@github.com:Jonny999999/armchair_fw

Install Node Packages

Navigate to the react-app directory and install required packages using npm:

cd react-app
npm install


Building the Project

React-webapp

When flashing to the ESP32, the files in the react-app/build/ folder are written to a SPIFFS partition.
These files are then served via HTTP in the Wi-Fi network "armchair" created by the ESP32.

Initially, or when changing the React code, you need to manually build the React app:

cd react-app
#compile
npm run build
#remove unwanted license file (filename too long for spiffs)
rm build/static/js/main.8f9aec76.js.LICENSE.txt

Note: For testing the app locally, use npm start

Firmware

Environment Setup

source /opt/esp-idf/export.sh

Run once per terminal

Compilation

cd board_single
idf.py build

Upload

  • Connect FTDI programmer to board (GND to GND, TX to RX, RX to TX)
  • Press RESET and BOOT button
  • Release RESET button (keep pressing boot)
  • Release boot button
  • Run flash command:
idf.py flash

Monitor

To view log output for debugging, follow the same steps as in the Upload section, but run:

idf.py monitor


Usage / User Interface

Quickstart

  • Browse / select any mode
    • [long press] opens menu for selecting the desired mode (JOYSTICK for driving)
  • Driving
    • [3x click] enters JOYSTICK mode
  • Rest position
    • [rotate] adjusts the leg rest position
    • [press + rotate] at the same time: adjusts the back rest position
    • alternatively enter ADJUST mode and control rests via joystick

Encoder Functions

  • When not in MENU mode, rotating the encoder has the following functions:
Encoder Event Action
rotate left Move leg rest up by 10%
rotate right Move leg rest DOWN by 10%
press + rotate left Move back rest down by 5%
press + rotate left Move back rest up by 5%

Note: first tick is ignored -> quickly rotate 2 ticks at first


  • When not in MENU mode, clicking the encoder has the following functions:
Count Type Action Description
1x long switch mode MENU_MODE_SELECT Open menu for selecting the current control mode
1x control [MASSAGE] freeze input When in massage mode: lock or unlock joystick input at current position.
1x short, 1x long switch mode ADJUST-CHAIR Switch to mode where the armchair leg and backrest are controlled via joystick.
2x toggle mode IDLE <=> previous Enable/disable chair armchair (e.g., enable after startup or switch to previous mode after timeout).
3x switch mode JOYSTICK Switch to JOYSTICK mode, to control armchair using joystick (default).
4x switch mode HTTP Switch to remote control via web-app http://191.168.4.1 in wifi armchair.
5x switch mode MENU_SETTINGS Open menu to set various options, controlled via display and rotary encoder.
6x switch mode MASSAGE Switch to MASSAGE mode where armchair shakes differently, depending on joystick position.
7x
8x toggle option deceleration limit Disable/enable deceleration limit (default on) => more responsive.
12x toggle option alt stick mapping Toggle between default and alternative stick mapping (reverse direction swapped).

  • When in MENU_SETTINGS mode (5x click), the encoder controls the settings menu: (similar in MENU_MODE_SELECT)
Encoder Event Current Menu Action
long press main-menu Exit MENU mode to previous control mode (e.g., JOYSTICK).
long press value-select Exit to main-menu without changing the value.
click main-menu Select currently highlighted menu item -> enter value-select screen.
click value-select Confirm value / run action.
rotate main-menu Scroll through menu items.
rotate value-select Change value.

HTTP Mode

Control the armchair via a virtual joystick on the web interface.

Usage:

  • Switch to HTTP mode (4 button presses or via mode-select menu).
  • Connect to WiFi armchair, no password.
  • Access http://192.168.4.1 (note: http NOT https, some browsers automatically add https!).
Description
Firmware for a homemade automated electric armchair using an esp32 controller on a custom pcb
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