Rework README, Update connection-plan
Readme:
- new structure
- remove unnecessary content
- add current features
connection-plan:
- Fix / Change pin assignments, matches config now
- Extend wiring-plan (Armchair section, box-wireframes, connectors)
function-diagram:
- fix typos in joystick mapping
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@ -10,9 +10,15 @@ dependencies.lock
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**/.cache
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# VS-code
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settings.json
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# drawio
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*.dtmp
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*.bkp
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# diagrams are mostly temporary (pdf files are tracked)
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*.drawio
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# React
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170
README.md
170
README.md
@ -1,7 +1,57 @@
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# Overview
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Firmware for a homemade automated electric armchair.
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More details about this project:
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V1: https://pfusch.zone/electric-armchair
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V2: https://pfusch.zone/electric-armchair-v2
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Extensive details about this project can be found here:
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- ~~V1: [Electric Armchair V1](https://pfusch.zone/electric-armchair)~~
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- V2: [Electric Armchair V2](https://pfusch.zone/electric-armchair-v2)
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In the current version V2.2, only the esp-project in the [board_single/](board_single) folder plus the custom libraries in [common/](common) are used.
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Note: The projects in the folders `board_control/` and `board_motorctl/` are no longer compatible and legacy from V2.1.
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## Hardware Setup / Electrical
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### PCB
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The firmware in this repository is designed for an ESP32 microcontroller integrated into a custom PCB developed here: [Project Work 2020](https://pfusch.zone/project-work-2020)
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### Connection Plan
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A detailed diagram illustrating all components and wiring can be found in the file [connection-plan.drawio.pdf](connection-plan.drawio.pdf)
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For more details refer to the documentation on the website.
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## Current Features
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- Control Modes:
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- Joystick: Control via hardware joystick mounted on the right armrest
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- HTTP: Control via virtual joystick on a web interface
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- Massage: Armchair shaking depending on stick position
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- Auto: Execute stored driving commands sequentially
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- Electric Chair Adjustment: Leg and backrest control via joystick
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- Advanced Motor Control: Configurable motor fading (acceleration, deceleration limit), current limit, braking; compatible with different hardware
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- Wi-Fi:
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- Hosts wireless network
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- Webserver with webroot in SPIFFS
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- HTTP API for controlling the chair
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- UART Communication between 2 boards (V2.1)
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- Speed Measurement: Measures speed and direction of each tire individually using custom encoders
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- Current Measurement: Monitors current of each motor
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- Battery Capacity: Measures battery voltage and calculates percentage according to discharge curve
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- Fan Control: Cooling fan for motor driver activated only when needed
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- Display:
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- Various status screens showing battery status, speed, RPM, motor current, mode, power, duty cycle, stick data
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- Menu for setting various options using encoder
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- Buzzer: Provides acoustic feedback when switching modes or interacting with menu
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## Planned Features
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- More Sensors:
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- Accelerometer
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- Lidar sensor / collision detection
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- GPS receiver
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- Temperature sensors
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- Anti-Slip Regulation
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- Self-Driving Algorithm
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- Lights
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- Improved Web Interface
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- App
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- Camera
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@ -19,7 +69,7 @@ yay -S esp-idf #alternatively clone the esp-idf repository from github
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git clone git@github.com:Jonny999999/armchair_fw
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```
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### Instal node packages
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For the react app packages have to be installed with npm TODO: add this to cmake?
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For the react app packages have to be installed using npm. TODO: add this to cmake?
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```
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cd react-app
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npm install
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@ -28,11 +78,12 @@ npm install
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# Building the Project
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## react-webapp
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For the webapp to work on the esp32 it has to be built.
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When flashing, the folder react-app/build is flashed to siffs (which is used as webroot) onto the esp32.
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The following command builds the react webapp and creates this folder
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TODO: add this to flash target with cmake?
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## React-webapp
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When flashing to the ESP32, the files in the `react-app/build/` folder are written to a SPIFFS partition.
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These files are then served via HTTP in the Wi-Fi network "armchair" created by the ESP32.
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In HTTP control mode, you can control the armchair using a joystick on the provided website.
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Initially, or when changing the React code, you need to manually build the React app:
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```bash
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cd react-app
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#compile
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@ -42,7 +93,8 @@ rm build/static/js/main.8f9aec76.js.LICENSE.txt
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```
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Note: Use `npm start` for starting the webapp locally for testing
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## esp project
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## Firmware
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### Set up environment
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```bash
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source /opt/esp-idf/export.sh
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@ -65,84 +117,52 @@ idf.py flash
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```
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- once "connecting...' was successfully, BOOT button can be released
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### Monitor
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- connect FTDI programmer to board (VCC to VCC; TX to RX; RX to TX)
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- press REST and BOOT button
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- release RESET button (keep pressing boot)
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- run monitor command:
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To view log output for debugging, follow the same steps as in the Upload section, but run:
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```bash
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idf.py monitor
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```
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- once connected release BOOT button
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- press RESET button once for restart
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# Hardware setup
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## pcb
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Used pcb developed in this project: https://pfusch.zone/project-work-2020
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## connection plan
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A diagram which shows what components are connected to which terminals of the pcb exists here:
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[connection-plan.drawio.pdf](connection-plan.drawio.pdf)
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# Usage / User Interface
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# Planned Features
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- More sensors:
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- Accelerometer
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- Lidar sensor
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- GPS receiver
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- Anti slip regulation
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- Self driving algorithm
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- Lights
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- Improved webinterface
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- App
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## Encoder Functions
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**When not in MENU mode**, the button (encoder click) has the following functions:
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| Count | Type | Action | Description |
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|-------|---------------|----------------------|---------------------------------------------------------------------------------------------|
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| 1x long | switch mode | **MENU** | Open menu to set various options, controlled via display and rotary encoder. |
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| 1x | control | [MASSAGE] **freeze** input | When in massage mode: lock or unlock joystick input at current position. |
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| 1x short, 1x long | switch mode | **ADJUST-CHAIR** | Switch to mode where the armchair leg and backrest are controlled via joystick. |
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| 2x | toggle mode | **IDLE** <=> previous | Enable/disable chair armchair (e.g., enable after startup or switch to previous mode after timeout). |
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| 3x | switch mode | **JOYSTICK** | Switch to JOYSTICK mode, to control armchair using joystick (default). |
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| 4x | switch mode | **HTTP** | Switch to **remote control** via web-app `http://191.168.4.1` in wifi `armchair`. |
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| 5x | | | |
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| 6x | switch mode | **MASSAGE** | Switch to MASSAGE mode where armchair shakes differently, depending on joystick position. |
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| 7x | | | |
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| 8x | toggle option| **deceleration limit** | Disable/enable deceleration limit (default on) => more responsive. |
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| 12x | toggle option| **alt stick mapping** | Toggle between default and alternative stick mapping (reverse direction swapped). |
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# Todo
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**Add switch functions**
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- set loglevel
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- define max-speed
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**When in MENU mode** (1x long press), the encoder controls the menu:
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| Encoder Event | Current Menu | Action |
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|---------------|--------------|--------------------------------------------------------------|
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| long press | main-menu | Exit MENU mode to previous control mode (e.g., JOYSTICK). |
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| long press | value-select | Exit to main-menu without changing the value. |
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| click | main-menu | Select currently highlighted menu item -> enter value-select screen. |
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| click | value-select | Confirm value / run action. |
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| rotate | main-menu | Scroll through menu items. |
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| rotate | value-select | Change value. |
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## HTTP Mode
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Control the armchair via a virtual joystick on the web interface.
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# Usage
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## Switch functions
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**Currently implemented**
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| Count | Type | Action | Description |
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| --- | --- | --- | --- |
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| 1x | configure | [JOYSTICK] **calibrate stick** | when in joystick mode: set joystick center to current joystick pos |
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| 1x | control | [MASSAGE] **freeze** input | when in massage mode: lock or unlock joystick input at current position |
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| 2x | toggle mode | **IDLE** <=> previous | enable/disable chair armchair e.g. enable after startup or timeout |
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| 3x | switch mode | **JOYSTICK** | switch to default mode JOYSTICK |
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| 4x | toggle mode | **HTTP** <=> JOYSTICK | switch to '**remote control** via web-app `http://191.168.4.1`' or back to JOYSTICK mode |
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| 5x | | | |
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| 6x | toggle mode | **MASSAGE** <=> JOYSTICK | switch to MASSAGE mode or back to JOYSTICK mode |
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| 7x | | | |
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| 8x | toggle option | **deceleration limit** | disable/enable deceleration limit (default on) => more responsive |
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| | | | |
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| 12x | toggle option | **alt stick mapping** | toggle between default and alternative stick mapping (reverse swapped) |
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| >1s | system | **restart** | Restart the controller when pressing the button longer than 1 second |
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| 1x short, 1x long | auto command | **eject** foot support | automatically go forward and reverse for certain time with no acceleration limits, so foot support ejects |
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## HTTP mode
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Control armchair via virtual joystick on a webinterface.
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**Usage**
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- Connect to wifi `armchar`, no password
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- Access http://192.168.4.1 (note: **http** NOT https, some browsers automatically add https!)
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**Current Features**
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- Control direction and speed with joystick
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**Todo**
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- Set parameters
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- max duty
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- max current
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- Control other modes e.g. massage
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- Execute preset movement commands
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- Change seating position
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also see github issue
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**Usage:**
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- Switch to HTTP mode (4 button presses).
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- Connect to WiFi `armchar`, no password.
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- Access http://192.168.4.1 (note: **http** NOT https, some browsers automatically add https!).
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