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Merge branch 'chairAdjust' into dev - chairAdjust tracking + pcb

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jonny 2024-09-08 14:54:30 +02:00
commit 6a2efb4432
38 changed files with 436020 additions and 84 deletions
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6
.gitignore vendored
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@ -38,5 +38,11 @@ yarn-error.log*
.env.production.local
#kicad
**/*-backups/*.zip
\#auto_saved_files\#
*.lck
# other
octave-workspace

66
README.md
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@ -10,8 +10,8 @@ The projects in the folders `board_control/` and `board_motorctl/` are no longer
<img src="doc/2023.09.09_armchair-frame.jpg" alt="Photo machine" style="width:60%;"><br>
*Photo of the built frame that carries the armchair*
<br>
# Overview
## Current Features
- **Control Modes:**
- **Joystick:** Control movement via hardware joystick mounted on the right armrest
@ -46,7 +46,7 @@ The projects in the folders `board_control/` and `board_motorctl/` are no longer
- **Electric Chair Adjustment:** Control 4 Relays powering motors that adjust the chair rest positions
- **Wi-Fi:**
- Hosts wireless network
- Webserver with webroot in SPIFFS
- 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)
@ -69,15 +69,31 @@ The projects in the folders `board_control/` and `board_motorctl/` are no longer
- Chair adjustment
- Simple App
<br>
## Hardware Setup / Electrical
### PCB
### Control-PCB
The firmware is designed for an ESP32 microcontroller integrated into a custom PCB developed here: [Project Work 2020](https://pfusch.zone/project-work-2020)
### Connection Plan
A detailed diagram illustrating all components and wiring can be found in the file [connection-plan.drawio.pdf](connection-plan.drawio.pdf).
For more details refer to the documentation on the [website](https://pfusch.zone/electric-armchair-v2).
### 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](hardware/chairAdjust-relayBoard)
Schematic: [hardware/chairAdjust-relayBoard/export/schematic.pdf](hardware/chairAdjust-relayBoard/export/schematic.pdf)
<br>
<br>
<p align="center">
<img src="hardware/chairAdjust-relayBoard/export/layout.svg" style="width: 40%;">
<img src="hardware/chairAdjust-relayBoard/export/layout.jpg" width="36%" />
</p>
<br>
<br>
# Installation
@ -101,6 +117,10 @@ npm install
```
<br>
<br>
# Building the Project
## React-webapp
When flashing to the ESP32, the files in the `react-app/build/` folder are written to a SPIFFS partition.
@ -148,16 +168,43 @@ idf.py monitor
```
<br>
<br>
# Usage / User Interface
## Encoder Functions
## 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
**When not in MENU mode**, the button (encoder click) has the following functions:
<br>
## 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
<br>
- *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 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). |
@ -169,7 +216,10 @@ idf.py monitor
| 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)
<br>
- When in **MENU_SETTINGS mode** (5x click), the encoder controls the settings menu: (similar in MENU_MODE_SELECT)
| Encoder Event | Current Menu | Action |
|---------------|--------------|--------------------------------------------------------------|
@ -180,6 +230,8 @@ idf.py monitor
| rotate | main-menu | Scroll through menu items. |
| rotate | value-select | Change value. |
<br>
## HTTP Mode
Control the armchair via a virtual joystick on the web interface.

80
board_single/main/button.cpp
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@ -23,7 +23,7 @@ void task_button(void *task_button_parameters)
task_button_parameters_t *objects = (task_button_parameters_t *)task_button_parameters;
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
// create button instance
buttonCommands commandButton(objects->control, objects->joystick, objects->encoderQueue, objects->motorLeft, objects->motorRight, objects->buzzer);
buttonCommands commandButton(objects->control, objects->joystick, objects->encoderQueue, objects->motorLeft, objects->motorRight, objects->legRest, objects->backRest, objects->buzzer);
// start handle loop
commandButton.startHandleLoop();
}
@ -35,8 +35,10 @@ buttonCommands::buttonCommands(
controlledArmchair *control_f,
evaluatedJoystick *joystick_f,
QueueHandle_t encoderQueue_f,
controlledMotor *motorLeft_f,
controlledMotor * motorLeft_f,
controlledMotor *motorRight_f,
cControlledRest *legRest_f,
cControlledRest *backRest_f,
buzzer_t *buzzer_f)
{
// copy object pointers
@ -46,6 +48,8 @@ buttonCommands::buttonCommands(
motorLeft = motorLeft_f;
motorRight = motorRight_f;
buzzer = buzzer_f;
legRest = legRest_f;
backRest = backRest_f;
// TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
}
@ -141,6 +145,12 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
control->changeMode(controlMode_t::MASSAGE); //switch to MASSAGE mode
break;
case 7:
legRest->setTargetPercent(100);
backRest->setTargetPercent(0);
ESP_LOGW(TAG, "7x TESTING: set leg/back rest to 100/0");
break;
case 8:
// ## toggle "sport-mode" ##
//toggle deceleration fading between on and off
@ -172,13 +182,16 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
// when not in MENU_SETTINGS mode, repeatedly receives events from encoder button
// and takes the corresponding action
// this function has to be started once in a separate task
#define INPUT_TIMEOUT 500 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
#define INPUT_TIMEOUT 600 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
#define IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE 2600 // time that has to be passed since last encoder rotate click for button count command to be accepted (e.g. prevent long press action after PRESS+ROTATE was used)
#define IGNORE_ROTATE_COUNT 1 //amount of ignored clicks before action is actually taken (ignore accidental touches)
void buttonCommands::startHandleLoop()
{
//-- variables --
bool isPressed = false;
static bool isPressed = false;
static rotary_encoder_event_t event; // store event data
int rotateCount = 0; // temporary count clicks encoder was rotated
uint32_t timestampLastAdjustChange = 0;
// int count = 0; (from class)
while (1)
@ -211,19 +224,46 @@ void buttonCommands::startHandleLoop()
ESP_LOGD(TAG, "Button released");
isPressed = false; // rest stored state
break;
case RE_ET_CHANGED: // scroll through status pages when simply rotating encoder
rotateCount++;
if (rotateCount >= 2) // at least two rotate-clicks necessary for one page switch
{
case RE_ET_CHANGED:
// ignore first clicks (dont ignore when changed position recently)
if ((rotateCount++ < IGNORE_ROTATE_COUNT) && ((esp_log_timestamp() - timestampLastAdjustChange) > IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE))
{
buzzer->beep(1, 20, 0);
break;
}
else {
timestampLastAdjustChange = esp_log_timestamp();
}
if (isPressed){
/////### scroll through status pages when PRESSED + ROTATED ###
///if (event.diff > 0)
/// display_rotateStatusPage(true, true); // select NEXT status screen, stay at last element (dont rotate to first)
///else
/// display_rotateStatusPage(false, true); // select PREVIOUS status screen, stay at first element (dont rotate to last)
//### adjust back support when PRESSED + ROTATED ###
if (event.diff > 0)
display_rotateStatusPage(true, true); // select NEXT status screen, stay at last element (dont rotate to first)
backRest->setTargetPercent(backRest->getTargetPercent() - 5);
else
display_rotateStatusPage(false, true); // select PREVIOUS status screen, stay at first element (dont rotate to last)
rotateCount = 0;
buzzer->beep(1, 90, 0);
backRest->setTargetPercent(backRest->getTargetPercent() + 5);
// show temporary notification on display
char buf[8];
snprintf(buf, 8, "%.0f%%", backRest->getTargetPercent());
display_showNotification(IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE, "moving Rest:", "BACK", buf);
}
//### adjust leg support when ROTATED ###
else
buzzer->beep(1, 65, 0);
{
// increment target position each click
if (event.diff > 0)
legRest->setTargetPercent(legRest->getTargetPercent() - 10);
else
legRest->setTargetPercent(legRest->getTargetPercent() + 10);
// show temporary notification on display
char buf[8];
snprintf(buf, 8, "%.0f%%", legRest->getTargetPercent());
display_showNotification(2500, "moving Rest:", "LEG", buf);
}
buzzer->beep(1, 40, 0);
break;
case RE_ET_BTN_LONG_PRESSED:
case RE_ET_BTN_CLICKED:
@ -233,17 +273,15 @@ void buttonCommands::startHandleLoop()
}
else // timeout (no event received within TIMEOUT)
{
// switch back to default status screen in case less than 2 rotate-clicks received
if (rotateCount != 0)
rotateCount = 0; // reset rotate count
// ignore button click events when "ROTATE+PRESSED" was just used
if (count > 0 && (esp_log_timestamp() - timestampLastAdjustChange < IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE))
{
rotateCount = 0;
display_selectStatusPage(STATUS_SCREEN_OVERVIEW);
//TODO only change/beep if not already at STATUS_SCREEN_OVERVIEW
//buzzer->beep(1, 100, 0);
ESP_LOGW(TAG, "ignoring button count %d because encoder was rotated less than %d ms ago", count, IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE);
count = 0;
}
// encoder was pressed
if (count > 0)
else if (count > 0)
{
//-- run action with count of presses --
ESP_LOGI(TAG, "timeout: count=%d, lastPressLong=%d -> running action", count, isPressed);

7
board_single/main/button.hpp
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@ -6,6 +6,7 @@
#include "motorctl.hpp"
#include "auto.hpp"
#include "joystick.hpp"
#include "chairAdjust.hpp"
@ -22,6 +23,8 @@ class buttonCommands {
QueueHandle_t encoderQueue_f,
controlledMotor * motorLeft_f,
controlledMotor *motorRight_f,
cControlledRest *legRest_f,
cControlledRest *backRest_f,
buzzer_t *buzzer_f);
//--- functions ---
@ -40,6 +43,8 @@ class buttonCommands {
controlledMotor * motorRight;
buzzer_t* buzzer;
QueueHandle_t encoderQueue;
cControlledRest *legRest;
cControlledRest *backRest;
//--- variables ---
uint8_t count = 0;
@ -62,6 +67,8 @@ typedef struct task_button_parameters_t
QueueHandle_t encoderQueue;
controlledMotor *motorLeft;
controlledMotor *motorRight;
cControlledRest *legRest;
cControlledRest *backRest;
buzzer_t *buzzer;
} task_button_parameters_t;

2
board_single/main/config.cpp
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@ -39,7 +39,7 @@ void setLoglevels(void)
esp_log_level_set("wifi", ESP_LOG_INFO);
esp_log_level_set("http", ESP_LOG_INFO);
// esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
esp_log_level_set("display", ESP_LOG_INFO);
esp_log_level_set("display", ESP_LOG_WARN);
// esp_log_level_set("current-sensors", ESP_LOG_INFO);
esp_log_level_set("speedSensor", ESP_LOG_WARN);
esp_log_level_set("chair-adjustment", ESP_LOG_INFO);

53
board_single/main/control.cpp
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@ -120,21 +120,55 @@ void controlledArmchair::startHandleLoop()
{
while (1)
{
// === handle current mode ===
// mutex to prevent race condition with actions beeing run at mode change and previous mode still beeing executed
ESP_LOGV(TAG, "handle(): requesting mutex...");
if (xSemaphoreTake(handleIteration_mutex, MUTEX_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE)
{
ESP_LOGV(TAG, "handle(): got mutex!");
//--- handle current mode ---
ESP_LOGV(TAG, "control loop executing... mode='%s'", controlModeStr[(int)mode]);
handle();
ESP_LOGV(TAG, "handle(): releasing mutex");
xSemaphoreGive(handleIteration_mutex);
} // end mutex
else {
else
{
ESP_LOGE(TAG, "mutex timeout - stuck in changeMode? -> RESTART");
esp_restart();
}
//--- slow loop ---
// ==== run mode specific delay ===
// outsourced here to not block the mutex by just waiting
switch (mode)
{
default:
case controlMode_t::IDLE:
vTaskDelay(500 / portTICK_PERIOD_MS);
break;
case controlMode_t::JOYSTICK:
vTaskDelay(50 / portTICK_PERIOD_MS);
break;
case controlMode_t::MASSAGE:
vTaskDelay(10 / portTICK_PERIOD_MS);
break;
case controlMode_t::HTTP:
// has 500ms timeout waiting for new events, thus blocks mutex...
break;
case controlMode_t::AUTO:
vTaskDelay(20 / portTICK_PERIOD_MS);
break;
case controlMode_t::ADJUST_CHAIR:
vTaskDelay(100 / portTICK_PERIOD_MS);
break;
case controlMode_t::MENU_SETTINGS:
case controlMode_t::MENU_MODE_SELECT:
vTaskDelay(500 / portTICK_PERIOD_MS);
break;
}
//=== slow loop, timeout ===
// this section is run approx every 5s (+500ms)
if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000)
{
@ -150,12 +184,14 @@ void controlledArmchair::startHandleLoop()
}
//-------------------------------------
//---------- Handle control -----------
//-------------------------------------
// function that repeatedly generates motor commands and runs actions depending on the current mode
void controlledArmchair::handle()
{
//note: mode specific delays are outsourced to startHandleLoop() to not block the mutex
switch (mode)
{
@ -166,7 +202,6 @@ void controlledArmchair::handle()
//------- handle IDLE -------
case controlMode_t::IDLE:
vTaskDelay(500 / portTICK_PERIOD_MS);
// TODO repeatedly set motors to idle, in case driver bugs? Currently 15s motorctl timeout would have to pass
#ifdef JOYSTICK_LOG_IN_IDLE
// get joystick data and log it
@ -180,7 +215,6 @@ void controlledArmchair::handle()
//------- handle JOYSTICK mode -------
case controlMode_t::JOYSTICK:
vTaskDelay(50 / portTICK_PERIOD_MS);
// get current joystick data with getData method of evaluatedJoystick
stickDataLast = stickData;
stickData = joystick_l->getData();
@ -205,7 +239,6 @@ void controlledArmchair::handle()
//------- handle MASSAGE mode -------
case controlMode_t::MASSAGE:
vTaskDelay(10 / portTICK_PERIOD_MS);
//--- read joystick ---
// only update joystick data when input not frozen
stickDataLast = stickData;
@ -250,7 +283,6 @@ void controlledArmchair::handle()
//------- handle AUTO mode -------
case controlMode_t::AUTO:
vTaskDelay(20 / portTICK_PERIOD_MS);
// generate commands
commands = automatedArmchair->generateCommands(&instruction);
//--- apply commands to motors ---
@ -291,7 +323,6 @@ void controlledArmchair::handle()
//------- handle ADJUST_CHAIR mode -------
case controlMode_t::ADJUST_CHAIR:
vTaskDelay(100 / portTICK_PERIOD_MS);
//--- read joystick ---
stickDataLast = stickData;
stickData = joystick_l->getData();
@ -308,7 +339,6 @@ void controlledArmchair::handle()
case controlMode_t::MENU_SETTINGS:
case controlMode_t::MENU_MODE_SELECT:
// nothing to do here, display task handles the menu
vTaskDelay(500 / portTICK_PERIOD_MS);
break;
// TODO: add other modes here
@ -457,8 +487,10 @@ void controlledArmchair::changeMode(controlMode_t modeNew, bool noBeep)
// mutex to wait for current handle iteration (control-task) to finish
// prevents race conditions where operations when changing mode are run but old mode gets handled still
ESP_LOGI(TAG, "changeMode: waiting for current handle() iteration to finish...");
ESP_LOGV(TAG, "changemode(): requesting mutex...");
if (xSemaphoreTake(handleIteration_mutex, MUTEX_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE)
{
ESP_LOGV(TAG, "changemode(): got mutex!");
// copy previous mode
modePrevious = mode;
// store time changed (needed for timeout)
@ -514,8 +546,8 @@ void controlledArmchair::changeMode(controlMode_t modeNew, bool noBeep)
case controlMode_t::ADJUST_CHAIR:
ESP_LOGW(TAG, "switching from ADJUST_CHAIR mode => turning off adjustment motors...");
// prevent motors from being always on in case of mode switch while joystick is not in center thus motors currently moving
legRest->setState(REST_OFF);
backRest->setState(REST_OFF);
legRest->requestStateChange(REST_OFF);
backRest->requestStateChange(REST_OFF);
break;
}
@ -569,6 +601,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew, bool noBeep)
mode = modeNew;
// unlock mutex for control task to continue handling modes
ESP_LOGV(TAG, "changemode(): releasing mutex");
xSemaphoreGive(handleIteration_mutex);
} // end mutex
else

37
board_single/main/display.cpp
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@ -23,6 +23,11 @@ extern "C"{
// every function can access the display configuration from config.cpp
static display_config_t displayConfig;
// communicate with display task to block+restore display writing, when a notification was triggered
uint32_t timestampNotificationStop = 0;
bool notificationIsActive = false;
//--------------------------
//------- getVoltage -------
@ -584,6 +589,29 @@ void handleStatusScreen(display_task_parameters_t *objects)
}
//==============================
//====== showNotification ======
//==============================
// trigger custom notification that is shown in any mode for set amount of time
void display_showNotification(uint32_t showDurationMs, const char *line1, const char *line2Large, const char *line3Large)
{
// clear display when notification initially shown
if (notificationIsActive == false)
ssd1306_clear_screen(&dev, false);
// update state and timestamp for auto exit
timestampNotificationStop = esp_log_timestamp() + showDurationMs;
notificationIsActive = true;
// void displayTextLineCentered(SSD1306_t *display, int line, bool isLarge, bool inverted, const char *format, ...);
displayTextLineCentered(&dev, 0, false, false, "%s", line1);
displayTextLineCentered(&dev, 1, true, false, "%s", line2Large);
displayTextLineCentered(&dev, 4, true, false, "%s", line3Large);
displayTextLine(&dev, 7, false, false, " ");
ESP_LOGI(TAG, "start showing notification '%s' '%s' for %d ms", line1, line2Large, showDurationMs);
}
//============================
//======= display task =======
//============================
@ -606,6 +634,15 @@ void display_task(void *pvParameters)
// repeatedly update display with content depending on current mode
while (1)
{
// dont update anything when a notification is active + check timeout
if (notificationIsActive){
if (esp_log_timestamp() >= timestampNotificationStop)
notificationIsActive = false;
vTaskDelay(100 / portTICK_PERIOD_MS);
continue;
}
//update display according to current control mode
switch (objects->control->getCurrentMode())
{
case controlMode_t::MENU_SETTINGS:

3
board_single/main/display.hpp
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@ -67,6 +67,9 @@ void display_selectStatusPage(displayStatusPage_t newStatusPage);
// select next/previous status screen to be shown, when noRotate is set is stays at first/last screen
void display_rotateStatusPage(bool reverseDirection = false, bool noRotate = false);
// show content for certain time in any mode
void display_showNotification(uint32_t showDurationMs, const char *line1, const char * line2Large, const char * line3Large );
//task that inititialized the display, displays welcome message
//and releatedly updates the display with certain content
void display_task( void * pvParameters );

15
board_single/main/main.cpp
View File

@ -161,9 +161,9 @@ void createObjects()
buzzer = new buzzer_t(GPIO_NUM_12, 1);
// create objects for controlling the chair position
// gpio_up, gpio_down, name
legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "legRest");
backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, "backRest");
// gpio_up, gpio_down, travelDuration, name, defaultPosition
legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, 11000, "legRest");
backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, 12000, "backRest", 5); //default position "100% up"
// create control object (control.hpp)
// with configuration from config.cpp
@ -266,7 +266,7 @@ extern "C" void app_main(void) {
//--- create task for button ---
//------------------------------
//task that handles button/encoder events in any mode except 'MENU_SETTINGS' and 'MENU_MODE_SELECT' (e.g. switch modes by pressing certain count)
task_button_parameters_t button_param = {control, joystick, encoderQueue, motorLeft, motorRight, buzzer};
task_button_parameters_t button_param = {control, joystick, encoderQueue, motorLeft, motorRight, legRest, backRest, buzzer};
xTaskCreate(&task_button, "task_button", 4096, &button_param, 3, NULL);
//-----------------------------------
@ -283,6 +283,13 @@ extern "C" void app_main(void) {
display_task_parameters_t display_param = {display_config, control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer, &nvsHandle};
xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 3, NULL);
//-------------------------------------
//-- create task for chairAdjustment --
//-------------------------------------
//tasks that stop chair-rest motors when they reach target (note: they sleep when motors not running)
xTaskCreate(&chairAdjust_task, "chairAdjustLeg_task", 2048, legRest, 1, NULL);
xTaskCreate(&chairAdjust_task, "chairAdjustBack_task", 2048, backRest, 1, NULL);
vTaskDelay(200 / portTICK_PERIOD_MS); //wait for all tasks to finish initializing
printf("\n");

353
common/chairAdjust.cpp
View File

@ -1,8 +1,5 @@
extern "C"
{
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include <string.h>
}
@ -11,6 +8,15 @@ extern "C"
//--- config ---
#define MUTEX_TIMEOUT (8000 / portTICK_PERIOD_MS)
// thresholds to protect relays from welding stuck
#define MIN_TIME_ON 200 // minimum time in ms motor has to be ON before being able to turn off again
#define MIN_TIME_OFF 400 // minimum time in ms motor has to be OFF before being able to turn on again (other or same direction)
#define TRAVEL_TIME_LIMIT_ADDITION_MS 1300 // traveling longer into limit compensates inaccuracies in time based position tracking
#define CHAIR_ADJUST_HANDLE_TASK_DELAY 100 // interval the stop-condition and state-switching is checked/handled
//--- gloabl variables ---
// strings for logging the rest state
const char* restStateStr[] = {"REST_OFF", "REST_DOWN", "REST_UP"};
@ -24,10 +30,12 @@ static const char * TAG = "chair-adjustment";
//=============================
//======== constructor ========
//=============================
cControlledRest::cControlledRest(gpio_num_t gpio_up_f, gpio_num_t gpio_down_f, const char * name_f){
cControlledRest::cControlledRest(gpio_num_t gpio_up_f, gpio_num_t gpio_down_f, uint32_t travelDurationMs, const char * name_f, float defaultPosition): gpio_up(gpio_up_f), gpio_down(gpio_down_f), travelDuration(travelDurationMs){
strcpy(name, name_f);
gpio_up = gpio_up_f;
gpio_down = gpio_down_f;
positionNow = defaultPosition;
positionTarget = positionNow;
// recursive mutex necessary, because handle() method calls setState() which both have the same mutex
mutex = xSemaphoreCreateRecursiveMutex();
init();
}
@ -53,22 +61,222 @@ void cControlledRest::init()
//============================
//========= setState =========
//============================
void cControlledRest::setState(restState_t targetState)
//==========================
//===== updatePosition =====
//==========================
// calculate and update position in percent based of time running in current direction
void cControlledRest::updatePosition()
{
//check if actually changed
if (targetState == state){
ESP_LOGD(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
// calculate time motor was on
uint32_t now = esp_log_timestamp();
uint32_t timeRan = now - timestamp_lastPosUpdate;
// note: timestamp_lastPosUpdate also gets updated when changing to active mode in changemode
timestamp_lastPosUpdate = now;
float positionOld = positionNow;
// calculate new percentage
switch (state)
{
case REST_UP:
positionNow += (float)timeRan / travelDuration * 100;
break;
case REST_DOWN:
positionNow -= (float)timeRan / travelDuration * 100;
break;
case REST_OFF:
// no change
ESP_LOGW(TAG, "updatePosition: unknown direction - cant update position when state is REST_OFF");
return;
}
//apply new state
ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]);
state = targetState;
timestamp_lastChange = esp_log_timestamp(); //TODO use this to estimate position
switch (state)
// clip to 0-100 (because cant actually happen due to limit switches)
if (positionNow < 0)
positionNow = 0;
else if (positionNow > 100)
positionNow = 100;
ESP_LOGD(TAG, "[%s] updatePosition: update pos from %.2f%% to %.2f%% (time ran %dms, prev-state '%s')", name, positionOld, positionNow, timeRan, restStateStr[state] );
}
//==========================
//==== setTargetPercent ====
//==========================
void cControlledRest::setTargetPercent(float targetPercent)
{
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
float positionTargetPrev = positionTarget;
positionTarget = targetPercent;
// limit to 0-100
if (positionTarget > 100)
positionTarget = 100;
else if (positionTarget < 0)
positionTarget = 0;
ESP_LOGI(TAG, "[%s] changed Target position from %.2f%% to %.2f%%", name, positionTargetPrev, positionTarget);
// update actual position positionNow first when already running
if (state != REST_OFF)
updatePosition();
// start rest in required direction
// TODO always run this check in handle()?
// note: when already at 0/100 start anyways (runs for certain threshold in case tracked position out of sync)
if (positionTarget > positionNow || positionTarget >= 100)
requestStateChange(REST_UP);
else if (positionTarget < positionNow || positionTarget <= 0)
requestStateChange(REST_DOWN);
else // already at exact position
requestStateChange(REST_OFF);
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
else
{
ESP_LOGE(TAG, "mutex timeout while waiting in setTargetPercent -> RESTART");
esp_restart();
}
}
//============================
//==== requestStateChange ====
//============================
// queue state change that is executed when valid (respecting min thresholds)
void cControlledRest::requestStateChange(restState_t targetState)
{
// check if task is linked
if (taskHandle == NULL)
{
ESP_LOGE(TAG, "[%s] can not activate task! Task is not running", name);
return;
}
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
ESP_LOGD(TAG, "[%s] requesting change to state '%s'", name, restStateStr[targetState]);
nextState = targetState;
// activate task to change, when on running already
if (taskIsRunning == false)
xTaskNotifyGive(taskHandle); // activate handle task that handles state change and stops the rest-motor again
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
else
{
ESP_LOGE(TAG, "mutex timeout while waiting in requestStateChange -> RESTART");
esp_restart();
}
}
//===========================
//==== handleStateChange ====
//===========================
// ensure MIN_TIME_ON and MIN_TIME_OFF has passed between doing the requested state change
// repeatedly run by task if state is requested
void cControlledRest::handleStateChange()
{
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
uint32_t now = esp_log_timestamp();
// already at target state
if (state == nextState)
{
// exit, nothing todo
ESP_LOGV(TAG, "[%s] handleStateChange: already at target state, nothing to do", name);
xSemaphoreGiveRecursive(mutex);
return;
}
// turn off requested
else if (nextState == REST_OFF)
{
// exit if not on long enough
if (now - timestamp_lastStateChange < MIN_TIME_ON)
{
ESP_LOGD(TAG, "[%s] handleStateChange: not on long enough, not turning off yet", name);
xSemaphoreGiveRecursive(mutex);
return;
}
}
// turn on requested
else if (state == REST_OFF && nextState != REST_OFF)
{
// exit if not off long enough
if (now - timestamp_lastStateChange < MIN_TIME_OFF)
{
ESP_LOGV(TAG, "[%s] handleStateChange: not OFF long enough, not turning on yet", name);
xSemaphoreGiveRecursive(mutex);
return;
}
}
// direction change requested
else if (state != REST_OFF && nextState != REST_OFF)
{
// exit if not on long enough
if (now - timestamp_lastStateChange < MIN_TIME_ON)
{
ESP_LOGD(TAG, "[%s] handleStateChange: dir change detected: not ON long enough, not turning off yet", name);
xSemaphoreGiveRecursive(mutex);
return;
}
// no immediate dir change, turn off first
else
{
ESP_LOGW(TAG, "[%s] handleStateChange: dir change detected: turning off first", name );
changeState(REST_OFF);
xSemaphoreGiveRecursive(mutex);
return;
}
}
// not exited by now = no reason to prevent the state change -> update state!
ESP_LOGV(TAG, "[%s] handleStateChange: change is allowed now -> applying new state '%s'", name , restStateStr[nextState]);
changeState(nextState);
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
else
{
ESP_LOGE(TAG, "mutex timeout while waiting in handleStateChange -> RESTART");
esp_restart();
}
}
//=========================
//====== changeState ======
//=========================
// change state (relays, timestamp) without any validation whether change is allowed
void cControlledRest::changeState(restState_t newState)
{
// check if actually changed
if (newState == state)
{
ESP_LOGV(TAG, "[%s] changeState: Relay state already at '%s', nothing to do", name, restStateStr[state]);
return;
}
// apply new state to relays
ESP_LOGI(TAG, "[%s] changeState: switching Relays from state '%s' to '%s'", name, restStateStr[state], restStateStr[newState]);
switch (newState)
{
case REST_UP:
gpio_set_level(gpio_down, 0);
@ -83,6 +291,94 @@ void cControlledRest::setState(restState_t targetState)
gpio_set_level(gpio_up, 0);
break;
}
// apply new state to variables
uint32_t now = esp_log_timestamp();
if (state != REST_OFF && newState == REST_OFF) // previously on (turning off now)
{
updatePosition(); // movement finished -> update position
positionTarget = positionNow; // disable resuming - no unexpected pos when incrementing
}
else if (state == REST_OFF && newState != REST_OFF)// previously off (turning on now)
timestamp_lastPosUpdate = now; // pos did not change during off time - reset timestamp
state = newState;
timestamp_lastStateChange = now;
}
//===============================
//=== handle StopAtPosReached ===
//===============================
// handle automatic stop when target position is reached, should be run repeatedly in a task
void cControlledRest::handleStopAtPosReached()
{
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
// nothing to do when not running atm
if (state == REST_OFF)
{
xSemaphoreGiveRecursive(mutex);
return;
}
// calculate time already running
uint32_t timeRan = esp_log_timestamp() - timestamp_lastPosUpdate;
// calculate needed time to reach target
uint32_t timeTarget = travelDuration * fabs(positionTarget - positionNow) / 100;
// intentionally travel longer into limit - compensates inaccuracies in time based position tracking
if (positionTarget == 0 || positionTarget == 100)
timeTarget += TRAVEL_TIME_LIMIT_ADDITION_MS;
// target reached
if (timeRan >= timeTarget)
{
ESP_LOGI(TAG, "[%s] TARGET REACHED! run-time (%dms/%dms) for target position %.1f%% -> requesting stop", name, timeRan, timeTarget, positionTarget);
requestStateChange(REST_OFF);
}
else
ESP_LOGV(TAG, "[%s] target not reached yet, run-time (%dms/%dms) for target position %.1f%%", name, timeRan, timeTarget, positionTarget);
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
else
{
ESP_LOGE(TAG, "mutex timeout while waiting in handleStopAtPosReached -> RESTART");
esp_restart();
}
}
//============================
//===== chairAdjust_task =====
//============================
void chairAdjust_task(void *pvParameter)
{
cControlledRest *rest = (cControlledRest *)pvParameter;
ESP_LOGW(TAG, "Starting task for controlling %s...", rest->getName());
// provide taskHandle to rest object for wakeup
rest->setTaskHandle(xTaskGetCurrentTaskHandle());
while (1)
{
ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // wait for wakeup by changeState() (rest-motor turned on)
rest->setTaskIsRunning();
ESP_LOGD(TAG, "task %s: received notification -> activating task!", rest->getName());
// running while 1. motor running or 2. not in target state yet
while ((rest->getState() != REST_OFF) || (rest->getNextState() != rest->getState()))
{
rest->handleStateChange();
rest->handleStopAtPosReached();
vTaskDelay(CHAIR_ADJUST_HANDLE_TASK_DELAY / portTICK_PERIOD_MS);
}
rest->clearTaskIsRunning();
ESP_LOGD(TAG, "task %s: motor-off and at target state -> sleeping task", rest->getName());
}
}
@ -91,25 +387,20 @@ void cControlledRest::setState(restState_t targetState)
//====== controlChairAdjustment ======
//====================================
//function that controls the two rests according to joystick data (applies threshold, defines direction)
//TODO:
// - add separate task that controls chair adjustment
// - timeout
// - track position
// - auto-adjust: move to position while driving
// - control via app
// - add delay betweem direction change
void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest){
//--- variables ---
float stickThreshold = 0.3; //min coordinate for motor to start
//--- control rest motors ---
//leg rest (x-axis)
if (data.x > stickThreshold) legRest->setState(REST_UP);
else if (data.x < -stickThreshold) legRest->setState(REST_DOWN);
else legRest->setState(REST_OFF);
if (data.x > stickThreshold) legRest->setTargetPercent(100);
else if (data.x < -stickThreshold) legRest->setTargetPercent(0);
else
legRest->requestStateChange(REST_OFF);
//back rest (y-axis)
if (data.y > stickThreshold) backRest->setState(REST_UP);
else if (data.y < -stickThreshold) backRest->setState(REST_DOWN);
else backRest->setState(REST_OFF);
if (data.y > stickThreshold) backRest->setTargetPercent(0);
else if (data.y < -stickThreshold) backRest->setTargetPercent(100);
else
backRest->requestStateChange(REST_OFF);
}

66
common/chairAdjust.hpp
View File

@ -1,7 +1,15 @@
#pragma once
extern "C"
{
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "driver/gpio.h"
}
#include "joystick.hpp"
typedef enum {
REST_OFF = 0,
REST_DOWN,
@ -11,6 +19,7 @@ typedef enum {
extern const char* restStateStr[];
//=====================================
//======= cControlledRest class =======
//=====================================
@ -18,22 +27,61 @@ extern const char* restStateStr[];
//2 instances will be created one for back and one for leg rest
class cControlledRest {
public:
cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, const char *name);
void setState(restState_t targetState);
void stop();
cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, uint32_t travelDurationMs, const char *name, float defaultPosition = 0);
// control the rest:
void requestStateChange(restState_t targetState); //mutex
restState_t getState() const {return state;};
const char * getName() const {return name;};
void setTargetPercent(float targetPercent); //mutex
float getTargetPercent() const {return positionTarget;};
float getPercent(); //TODO update position first
// required for task controlling the rest:
void setTaskHandle(TaskHandle_t handle) {taskHandle = handle;};
void setTaskIsRunning() {taskIsRunning = true;};
void clearTaskIsRunning() {taskIsRunning = false;};
void handleStopAtPosReached(); //mutex
void handleStateChange(); //mutex
restState_t getNextState() const {return nextState;};
private:
void init();
void updatePosition();
void changeState(restState_t newState);
// task related:
TaskHandle_t taskHandle = NULL; //task that repeatedly runs the handle() method, is assigned at task creation
bool taskIsRunning = false;
SemaphoreHandle_t mutex;
// config:
char name[32];
gpio_num_t gpio_up;
gpio_num_t gpio_down;
restState_t state;
const uint32_t travelDuration = 5000;
uint32_t timestamp_lastChange;
float currentPosition = 0;
const gpio_num_t gpio_up;
const gpio_num_t gpio_down;
const uint32_t travelDuration = 12000;
// variables:
restState_t state = REST_OFF;
restState_t nextState = REST_OFF;
uint32_t timestamp_lastStateChange = 0;
uint32_t timestamp_lastPosUpdate = 0;
float positionTarget = 0;
float positionNow = 0;
};
//===========================
//==== chairAdjust_task =====
//===========================
// repeatedly runs handle methods of specified ControlledRest object to turn of the rest, when activated by changeState() method
void chairAdjust_task( void * cControlledRest );
//====================================
//====== controlChairAdjustment ======
//====================================

19476
hardware/chairAdjust-relayBoard/chairAdjust-relayBoard.kicad_pcb Normal file
View File

File diff suppressed because it is too large Load Diff

82
hardware/chairAdjust-relayBoard/chairAdjust-relayBoard.kicad_prl Normal file
View File

@ -0,0 +1,82 @@
{
"board": {
"active_layer": 31,
"active_layer_preset": "",
"auto_track_width": true,
"hidden_netclasses": [],
"hidden_nets": [],
"high_contrast_mode": 0,
"net_color_mode": 1,
"opacity": {
"images": 0.6,
"pads": 1.0,
"tracks": 1.0,
"vias": 1.0,
"zones": 0.2199999988079071
},
"selection_filter": {
"dimensions": true,
"footprints": true,
"graphics": true,
"keepouts": true,
"lockedItems": false,
"otherItems": true,
"pads": true,
"text": true,
"tracks": true,
"vias": true,
"zones": true
},
"visible_items": [
0,
1,
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4,
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8,
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32,
33,
34,
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],
"visible_layers": "fffffff_ffffffff",
"zone_display_mode": 0
},
"git": {
"repo_password": "",
"repo_type": "",
"repo_username": "",
"ssh_key": ""
},
"meta": {
"filename": "chairAdjust-relayBoard.kicad_prl",
"version": 3
},
"project": {
"files": []
}
}

605
hardware/chairAdjust-relayBoard/chairAdjust-relayBoard.kicad_pro Normal file
View File

@ -0,0 +1,605 @@
{
"board": {
"3dviewports": [],
"design_settings": {
"defaults": {
"apply_defaults_to_fp_fields": false,
"apply_defaults_to_fp_shapes": false,
"apply_defaults_to_fp_text": false,
"board_outline_line_width": 0.05,
"copper_line_width": 0.2,
"copper_text_italic": false,
"copper_text_size_h": 1.5,
"copper_text_size_v": 1.5,
"copper_text_thickness": 0.3,
"copper_text_upright": false,
"courtyard_line_width": 0.05,
"dimension_precision": 4,
"dimension_units": 3,
"dimensions": {
"arrow_length": 1270000,
"extension_offset": 500000,
"keep_text_aligned": true,
"suppress_zeroes": false,
"text_position": 0,
"units_format": 1
},
"fab_line_width": 0.1,
"fab_text_italic": false,
"fab_text_size_h": 1.0,
"fab_text_size_v": 1.0,
"fab_text_thickness": 0.15,
"fab_text_upright": false,
"other_line_width": 0.1,
"other_text_italic": false,
"other_text_size_h": 1.0,
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"other_text_thickness": 0.15,
"other_text_upright": false,
"pads": {
"drill": 0.5,
"height": 1.5,
"width": 1.5
},
"silk_line_width": 0.1,
"silk_text_italic": false,
"silk_text_size_h": 1.0,
"silk_text_size_v": 1.0,
"silk_text_thickness": 0.1,
"silk_text_upright": false,
"zones": {
"min_clearance": 0.8
}
},
"diff_pair_dimensions": [
{
"gap": 0.0,
"via_gap": 0.0,
"width": 0.0
}
],
"drc_exclusions": [],
"meta": {
"version": 2
},
"rule_severities": {
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"clearance": "error",
"connection_width": "warning",
"copper_edge_clearance": "error",
"copper_sliver": "warning",
"courtyards_overlap": "warning",
"diff_pair_gap_out_of_range": "error",
"diff_pair_uncoupled_length_too_long": "error",
"drill_out_of_range": "error",
"duplicate_footprints": "warning",
"extra_footprint": "warning",
"footprint": "error",
"footprint_symbol_mismatch": "warning",
"footprint_type_mismatch": "ignore",
"hole_clearance": "error",
"hole_near_hole": "error",
"holes_co_located": "warning",
"invalid_outline": "error",
"isolated_copper": "warning",
"item_on_disabled_layer": "error",
"items_not_allowed": "error",
"length_out_of_range": "error",
"lib_footprint_issues": "warning",
"lib_footprint_mismatch": "warning",
"malformed_courtyard": "error",
"microvia_drill_out_of_range": "error",
"missing_courtyard": "ignore",
"missing_footprint": "warning",
"net_conflict": "warning",
"npth_inside_courtyard": "ignore",
"padstack": "warning",
"pth_inside_courtyard": "ignore",
"shorting_items": "error",
"silk_edge_clearance": "ignore",
"silk_over_copper": "ignore",
"silk_overlap": "ignore",
"skew_out_of_range": "error",
"solder_mask_bridge": "error",
"starved_thermal": "error",
"text_height": "ignore",
"text_thickness": "ignore",
"through_hole_pad_without_hole": "error",
"too_many_vias": "error",
"track_dangling": "warning",
"track_width": "error",
"tracks_crossing": "error",
"unconnected_items": "error",
"unresolved_variable": "error",
"via_dangling": "warning",
"zones_intersect": "error"
},
"rules": {
"max_error": 0.005,
"min_clearance": 0.0,
"min_connection": 0.0,
"min_copper_edge_clearance": 0.5,
"min_hole_clearance": 0.25,
"min_hole_to_hole": 0.25,
"min_microvia_diameter": 0.2,
"min_microvia_drill": 0.1,
"min_resolved_spokes": 2,
"min_silk_clearance": 0.0,
"min_text_height": 0.8,
"min_text_thickness": 0.08,
"min_through_hole_diameter": 0.3,
"min_track_width": 0.0,
"min_via_annular_width": 0.1,
"min_via_diameter": 0.5,
"solder_mask_to_copper_clearance": 0.0,
"use_height_for_length_calcs": true
},
"teardrop_options": [
{
"td_onpadsmd": true,
"td_onroundshapesonly": false,
"td_ontrackend": false,
"td_onviapad": true
}
],
"teardrop_parameters": [
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"td_width_to_size_filter_ratio": 0.9
},
{
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"td_width_to_size_filter_ratio": 0.9
},
{
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"td_target_name": "td_track_end",
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}
],
"track_widths": [
0.0,
0.8,
1.0,
2.5,
4.0
],
"tuning_pattern_settings": {
"diff_pair_defaults": {
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"corner_style": 1,
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},
"diff_pair_skew_defaults": {
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"spacing": 0.6
}
},
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{
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},
{
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}
],
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},
"ipc2581": {
"dist": "",
"distpn": "",
"internal_id": "",
"mfg": "",
"mpn": ""
},
"layer_presets": [],
"viewports": []
},
"boards": [],
"cvpcb": {
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},
"erc": {
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},
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"rule_severities": {
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hardware/chairAdjust-relayBoard/export/3d-model.wrl Normal file
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hardware/chairAdjust-relayBoard/export/chairAdjust-relayBoard-Edge_Cuts.gbr Normal file
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D10*
%TO.P,J5,1,Pin_1*%
%TO.N,GNDPWR*%
X161290000Y-35560000D03*
D11*
%TO.P,J5,2,Pin_2*%
X156210000Y-35560000D03*
%TD*%
D17*
%TO.P,R9,1*%
%TO.N,/Relay_M2.2*%
X120015000Y-95885000D03*
D18*
%TO.P,R9,2*%
%TO.N,Net-(Q4-B)*%
X130175000Y-95885000D03*
%TD*%
D17*
%TO.P,R8,1*%
%TO.N,/Relay_M2.1*%
X120015000Y-79375000D03*
D18*
%TO.P,R8,2*%
%TO.N,Net-(Q2-B)*%
X130175000Y-79375000D03*
%TD*%
D12*
%TO.P,TP2,1,1*%
%TO.N,Net-(D4-A)*%
X204089000Y-68199000D03*
%TD*%
D19*
%TO.P,TP5,1,1*%
%TO.N,GND*%
X140208000Y-35560000D03*
%TD*%
D27*
%TO.N,Net-(D4-A)*%
X166370000Y-71755000D03*
X175590000Y-71755000D03*
%TO.N,Net-(D5-A)*%
X166370000Y-55245000D03*
X175590000Y-55245000D03*
%TO.N,Net-(D10-A)*%
X166370000Y-88265000D03*
X175590000Y-88265000D03*
%TD*%
D28*
%TO.N,Net-(D4-A)*%
X166370000Y-71755000D02*
X175590000Y-71755000D01*
%TO.N,Net-(D5-A)*%
X166370000Y-55245000D02*
X175590000Y-55245000D01*
D29*
%TO.N,GNDPWR*%
X186828327Y-63275000D02*
X191135000Y-67581673D01*
X186828327Y-59101673D02*
X186828327Y-63275000D01*
X191135000Y-54795000D02*
X186828327Y-59101673D01*
X191135000Y-41275000D02*
X191135000Y-54795000D01*
D28*
%TO.N,Net-(D10-A)*%
X166370000Y-88265000D02*
X175590000Y-88265000D01*
D29*
%TO.N,GNDPWR*%
X191135000Y-67581673D02*
X191135000Y-76835000D01*
%TD*%
M02*

19
hardware/chairAdjust-relayBoard/export/chairAdjust-relayBoard-NPTH.drl Normal file
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@ -0,0 +1,19 @@
M48
; DRILL file {KiCad 8.0.4} date 2024-09-07T08:33:15+0200
; FORMAT={-:-/ absolute / metric / decimal}
; #@! TF.CreationDate,2024-09-07T08:33:15+02:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.4
; #@! TF.FileFunction,NonPlated,1,2,NPTH
FMAT,2
METRIC
; #@! TA.AperFunction,NonPlated,NPTH,ComponentDrill
T1C5.300
%
G90
G05
T1
X113.03Y-34.29
X113.03Y-101.6
X202.565Y-34.29
X202.565Y-101.6
M30

159
hardware/chairAdjust-relayBoard/export/chairAdjust-relayBoard-PTH.drl Normal file
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M48
; DRILL file {KiCad 8.0.4} date 2024-09-07T08:33:15+0200
; FORMAT={-:-/ absolute / metric / decimal}
; #@! TF.CreationDate,2024-09-07T08:33:15+02:00
; #@! TF.GenerationSoftware,Kicad,Pcbnew,8.0.4
; #@! TF.FileFunction,Plated,1,2,PTH
FMAT,2
METRIC
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
T1C0.500
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
T2C0.800
; #@! TA.AperFunction,Plated,PTH,ViaDrill
T3C1.000
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
T4C1.000
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
T5C1.200
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
T6C1.300
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
T7C1.400
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
T8C1.500
; #@! TA.AperFunction,Plated,PTH,ComponentDrill
T9C1.520
%
G90
G05
T1
X124.079Y-35.306
X129.794Y-101.473
X130.429Y-51.689
X130.429Y-85.09
X130.556Y-68.326
X140.208Y-35.56
X150.622Y-35.56
X182.245Y-35.56
X204.089Y-50.927
X204.089Y-68.199
X204.216Y-77.47
X204.216Y-94.234
T2
X119.655Y-42.545
X119.655Y-46.355
X120.015Y-59.309
X120.015Y-62.865
X120.015Y-75.565
X120.015Y-79.375
X120.015Y-92.075
X120.015Y-95.885
X129.815Y-42.545
X129.815Y-46.355
X130.175Y-59.309
X130.175Y-62.865
X130.175Y-75.565
X130.175Y-79.375
X130.175Y-92.075
X130.175Y-95.885
X134.98Y-43.815
X134.98Y-46.355
X134.98Y-48.895
X134.98Y-60.325
X134.98Y-62.865
X134.98Y-65.405
X134.98Y-76.835
X134.98Y-79.375
X134.98Y-81.915
X134.98Y-93.345
X134.98Y-95.885
X134.98Y-98.425
T3
X166.37Y-55.245
X166.37Y-71.755
X166.37Y-88.265
X175.59Y-55.245
X175.59Y-71.755
X175.59Y-88.265
T4
X117.475Y-65.405
X117.475Y-67.945
X117.475Y-70.485
X117.475Y-73.025
T5
X111.225Y-63.965
X111.225Y-67.465
X111.225Y-70.965
X111.225Y-74.465
T6
X146.048Y-59.81
X146.048Y-67.31
X146.048Y-92.83
X146.048Y-100.33
X146.05Y-43.3
X146.05Y-50.8
X146.05Y-76.32
X146.05Y-83.82
X161.308Y-59.81
X161.308Y-67.31
X161.308Y-92.83
X161.308Y-100.33
X161.31Y-43.3
X161.31Y-50.8
X161.31Y-76.32
X161.31Y-83.82
X166.348Y-59.81
X166.348Y-67.31
X166.348Y-92.83
X166.348Y-100.33
X166.35Y-43.3
X166.35Y-50.8
X166.35Y-76.32
X166.35Y-83.82
X171.388Y-59.81
X171.388Y-67.31
X171.388Y-92.83
X171.388Y-100.33
X171.39Y-43.3
X171.39Y-50.8
X171.39Y-76.32
X171.39Y-83.82
T7
X139.7Y-40.64
X139.7Y-53.34
X139.7Y-57.15
X139.7Y-69.85
X139.7Y-73.66
X139.7Y-86.36
X139.7Y-90.17
X139.7Y-102.87
T8
X179.705Y-41.275
X179.705Y-61.595
X179.705Y-76.835
X179.705Y-97.155
X185.42Y-46.355
X185.42Y-66.675
X185.42Y-71.755
X185.42Y-92.075
X191.135Y-41.275
X191.135Y-61.595
X191.135Y-76.835
X191.135Y-97.155
X196.85Y-46.355
X196.85Y-66.675
X196.85Y-71.755
X196.85Y-92.075
T9
X129.794Y-35.56
X134.874Y-35.56
X156.21Y-35.56
X161.29Y-35.56
X171.45Y-35.56
X176.53Y-35.56
X203.835Y-57.15
X203.835Y-62.23
X203.835Y-83.185
X203.835Y-88.265
M30

97
hardware/chairAdjust-relayBoard/export/chairAdjust-relayBoard-job.gbrjob Normal file
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{
"Header": {
"GenerationSoftware": {
"Vendor": "KiCad",
"Application": "Pcbnew",
"Version": "8.0.4"
},
"CreationDate": "2024-09-07T09:02:32+02:00"
},
"GeneralSpecs": {
"ProjectId": {
"Name": "chairAdjust-relayBoard",
"GUID": "63686169-7241-4646-9a75-73742d72656c",
"Revision": "rev?"
},
"Size": {
"X": 101.015,
"Y": 78.79
},
"LayerNumber": 2,
"BoardThickness": 1.6,
"Finish": "None"
},
"DesignRules": [
{
"Layers": "Outer",
"PadToPad": 0.2,
"PadToTrack": 0.2,
"TrackToTrack": 0.2,
"MinLineWidth": 1.0,
"TrackToRegion": 0.8,
"RegionToRegion": 0.8
}
],
"FilesAttributes": [
{
"Path": "chairAdjust-relayBoard-F_Cu.gbr",
"FileFunction": "Copper,L1,Top",
"FilePolarity": "Positive"
},
{
"Path": "chairAdjust-relayBoard-B_Cu.gbr",
"FileFunction": "Copper,L2,Bot",
"FilePolarity": "Positive"
},
{
"Path": "chairAdjust-relayBoard-Edge_Cuts.gbr",
"FileFunction": "Profile",
"FilePolarity": "Positive"
}
],
"MaterialStackup": [
{
"Type": "Legend",
"Name": "Top Silk Screen"
},
{
"Type": "SolderPaste",
"Name": "Top Solder Paste"
},
{
"Type": "SolderMask",
"Thickness": 0.01,
"Name": "Top Solder Mask"
},
{
"Type": "Copper",
"Thickness": 0.035,
"Name": "F.Cu"
},
{
"Type": "Dielectric",
"Thickness": 1.51,
"Material": "FR4",
"Name": "F.Cu/B.Cu",
"Notes": "Type: dielectric layer 1 (from F.Cu to B.Cu)"
},
{
"Type": "Copper",
"Thickness": 0.035,
"Name": "B.Cu"
},
{
"Type": "SolderMask",
"Thickness": 0.01,
"Name": "Bottom Solder Mask"
},
{
"Type": "SolderPaste",
"Name": "Bottom Solder Paste"
},
{
"Type": "Legend",
"Name": "Bottom Silk Screen"
}
]
}

27989
hardware/chairAdjust-relayBoard/export/layout-no-zones.svg Normal file
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hardware/chairAdjust-relayBoard/export/schematic.pdf Normal file
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173881
hardware/chairAdjust-relayBoard/fp-info-cache Normal file
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82
hardware/chairAdjust-relayBoard/pcb2gcode/162x102_planfraesen.din Executable file
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%
(Projekt 162x102_planfraesen)
(Erstellt mit Estlcam 2.5D Version 7 Build 7,622)
(Fraesrichtung: Gegenlauf)
(Nullpunkt: Auf Teileoberseite)
(Maximale Fraestiefe: 0,70mm)
(Verwendete Werkzeuge:)
(Fraeser 6mm)
G90
T10 M06 S20000
M03
G00 Z-5.0000
(Nr. 1 Ausschnitt 2)
G00 X3.6000 Y3.7500
G00 Z-0.5000
G01 Z0.7000 F5.000 S20000
G01 X158.4000 F9.000
G01 Y8.2500
G01 X3.6000
G01 Y12.7500
G01 X158.4000
G01 Y17.2500
G01 X3.6000
G01 Y21.7500
G01 X158.4000
G01 Y26.2500
G01 X3.6000
G01 Y30.7500
G01 X158.4000
G01 Y35.2500
G01 X3.6000
G01 Y39.7500
G01 X158.4000
G01 Y44.2500
G01 X3.6000
G01 Y48.7500
G01 X158.4000
G01 Y53.2500
G01 X3.6000
G01 Y57.7500
G01 X158.4000
G01 Y62.2500
G01 X3.6000
G01 Y66.7500
G01 X158.4000
G01 Y71.2500
G01 X3.6000
G01 Y75.7500
G01 X158.4000
G01 Y80.2500
G01 X3.6000
G01 Y84.7500
G01 X158.4000
G01 Y89.2500
G01 X3.6000
G01 Y93.7500
G01 X158.4000
G01 Y98.2500
G01 X3.6000
G00 Z-5.0000
G00 X2.1213 Y2.1213
G00 Z-0.5000
G01 Z0.7000 F5.000
G01 X3.0000 Y3.0000 F9.000
G01 Y99.0000
G01 X2.1213 Y99.8787
G01 X3.0000 Y99.0000
G01 X159.0000
G01 X159.8787 Y99.8787
G01 X159.0000 Y99.0000
G01 Y3.0000
G01 X159.8787 Y2.1213
G01 X159.0000 Y3.0000
G01 X3.0000
G01 X2.1213 Y2.1213
G00 Z-5.0000
M05
M30

83
hardware/chairAdjust-relayBoard/pcb2gcode/millproject Normal file
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# === USAGE ===
# simply run pcb2gcode in terminal while being in this folder.
# pcb2gcode will use "millproject" in current folder for parameters by default
#
# === Notes ===
# web based gcode viewer:
# https://ncviewer.com/
# === CONFIG ===
# Configuration file generated by pcb2gcodeGUI version 0.1 on Wed Apr 6 15:40:16 2022
# stopped using gui and customized parameters manually since then...
back=../export/chairAdjust-relayBoard-B_Cu.gbr
front=../export/chairAdjust-relayBoard-F_Cu.gbr
outline=../export/chairAdjust-relayBoard-Edge_Cuts.gbr
#note: running for each drill file separately and merging the gcode manually (4 mounting holes are in a separate gerber file)
drill=../export/chairAdjust-relayBoard-PTH.drl
#drill=../export/chairAdjust-relayBoard-NPTH.drl
output-dir=./out
# Common options
metric=true
metricoutput=true
mirror-axis=0.0000
mirror-yaxis=false
nog64=false
#set optimized to default value, because when it was set to 0 (disable) it caused crash (runs till ram full) for some reason, since adding text to center of pcb ==> set to default
optimise=0.00000254 #default
backtrack=0 #if default/undefined caused unwanted moves in copper without retracting, especially at letters (seen in gcode viewer) - thus disabled this feature
tile-x=1
tile-y=1
tolerance=0.0500
zchange=30.0000
zchange-absolute=false
zero-start=true
zsafe=3.5000 #3mm to be able to cross mounting screws
# Mill options
extra-passes=0
mill-feed=400 #default 600mm/min
mill-speed=20000
offset=0.400 #intentional bigger offset than necessary, using 0.4 there were almost no small strips beeing left over between insolation lines.
voronoi=false
zwork=-0.2000 #usin 60degree cutter resulted in ~0.42mm line
# Drill options
drill-feed=200
drill-side=back
drill-speed=20000
milldrill=false
#@#milldrill-diameter=3.0000
nog81=false
nog91-1=true
onedrill=false
zdrill=-1.7500
drills-available=0.8,1,1.5
# Outline options
bridges=1.0000
bridgesnum=2
cut-feed=200
cut-infeed=0.5000
cut-side=back
cut-speed=10000
cut-vertfeed=60
cutter-diameter=0.0000 #not really cutting, just using line as reference for zeroing
fill-outline=true
zbridges=-0.6000
zcut=-2.7000
# Autoleveller options
al-back=false
al-front=false
al-probecode=G31
al-probefeed=100
al-probevar=2002
al-setzzero=G92 Z0
al-x=15.0000
al-y=15.0000
software=custom

86
hardware/chairAdjust-relayBoard/pcb2gcode/millproject_text Normal file
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# === USAGE ===
# simply run pcb2gcode in terminal while being in this folder.
# pcb2gcode will use "millproject" in current folder for parameters by default
#
# === Notes ===
# web based gcode viewer:
# https://ncviewer.com/
# === CONFIG ===
# Configuration file generated by pcb2gcodeGUI version 0.1 on Wed Apr 6 15:40:16 2022
# stopped using gui and customized parameters manually since then...
#text layer
back=./in/pcb-ihc_kicad-User_1.gbr
#add other layers (ignore output) otherwise alignment/origin wont match
front=./in/pcb-ihc_kicad-F_Cu.gbr
outline=./in/pcb-ihc_kicad-Edge_Cuts.gbr
drill=./in/pcb-ihc_kicad-PTH.drl
output-dir=./out/text
# Common options
metric=true
metricoutput=true
mirror-axis=0.0000
mirror-yaxis=false
nog64=false
#set optimized to default value, because when it was set to 0 (disable) it caused crash (runs till ram full) for some reason, since adding text to center of pcb ==> set to default
optimise=0.00000254 #default
backtrack=0 #if default/undefined caused unwanted moves in copper without retracting, especially at letters (seen in gcode viewer) - thus disabled this feature
tile-x=1
tile-y=1
tolerance=0.0500
zchange=30.0000
zchange-absolute=false
zero-start=true
zsafe=2.0000
# Mill options
extra-passes=0
mill-feed=500 #default 600mm/min
mill-speed=20000
#####################
offset=-0.140 #text line width is 0.3 so offset -0.14 is minimun otherwise crash
zwork=-0.2000
#####################
voronoi=false
# Drill options
drill-feed=200
drill-side=back
drill-speed=20000
milldrill=false
#@#milldrill-diameter=3.0000
nog81=false
nog91-1=true
onedrill=false
zdrill=-1.7500
# Outline options
bridges=1.0000
bridgesnum=2
cut-feed=200
cut-infeed=0.5000
cut-side=back
cut-speed=10000
cut-vertfeed=60
cutter-diameter=0.0000
fill-outline=true
zbridges=-0.6000
zcut=-2.7000
# Autoleveller options
al-back=false
al-front=false
al-probecode=G31
al-probefeed=100
al-probevar=2002
al-setzzero=G92 Z0
al-x=15.0000
al-y=15.0000
software=custom

9657
hardware/chairAdjust-relayBoard/pcb2gcode/out/back.ngc Normal file
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hardware/chairAdjust-relayBoard/pcb2gcode/out/drill.ngc Normal file
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( pcb2gcode 2.5.0 )
( Software-independent Gcode )
( This file uses 3 drill bit sizes. )
( Bit sizes: [0.8mm] [1mm] [1.5mm] )
G94 (Millimeters per minute feed rate.)
G21 (Units == Millimeters.)
G90 (Absolute coordinates.)
G00 S20000 (RPM spindle speed.)
G00 Z30.00000 (Retract)
T1
M5 (Spindle stop.)
G04 P1.00000
(MSG, Change tool bit to drill size 0.8mm)
M6 (Tool change.)
M0 (Temporary machine stop.)
M3 (Spindle on clockwise.)
G0 Z3.50000
G04 P1.00000
G81 R3.50000 Z-1.75000 F200.00000 X-96.92600 Y29.87000
X-96.79900 Y39.14100
X-96.79900 Y56.41300
X-74.95500 Y71.78000
X-43.33200 Y71.78000
X-32.91800 Y71.78000
X-27.69000 Y63.52500
X-27.69000 Y60.98500
X-27.69000 Y58.44500
X-23.13900 Y55.65100
X-22.52500 Y60.98500
X-22.52500 Y64.79500
X-16.78900 Y72.03400
X-12.36500 Y64.79500
X-12.36500 Y60.98500
X-12.72500 Y48.03100
X-12.72500 Y44.47500
X-12.72500 Y31.77500
X-12.72500 Y27.96500
X-12.72500 Y15.26500
X-12.72500 Y11.45500
X-22.50400 Y5.86700
X-27.69000 Y8.91500
X-27.69000 Y11.45500
X-27.69000 Y13.99500
X-22.88500 Y11.45500
X-22.88500 Y15.26500
X-23.13900 Y22.25000
X-27.69000 Y25.42500
X-27.69000 Y27.96500
X-27.69000 Y30.50500
X-22.88500 Y27.96500
X-22.88500 Y31.77500
X-23.26600 Y39.01400
X-22.88500 Y44.47500
X-22.88500 Y48.03100
X-27.69000 Y47.01500
X-27.69000 Y44.47500
X-27.69000 Y41.93500
X-96.92600 Y13.10600
G80
G00 Z30.00000 (Retract)
T3
M5 (Spindle stop.)
G04 P1.00000
(MSG, Change tool bit to drill size 1mm)
M6 (Tool change.)
M0 (Temporary machine stop.)
M3 (Spindle on clockwise.)
G0 Z3.50000
G04 P1.00000
G81 R3.50000 Z-1.75000 F200.00000 X-68.30000 Y52.09500
X-59.08000 Y52.09500
X-59.08000 Y35.58500
X-68.30000 Y35.58500
X-68.30000 Y19.07500
X-59.08000 Y19.07500
X-10.18500 Y41.93500
X-10.18500 Y39.39500
X-10.18500 Y36.85500
X-10.18500 Y34.31500
X-3.93500 Y32.87500
X-3.93500 Y36.37500
X-3.93500 Y39.87500
X-3.93500 Y43.37500
G80
G00 Z30.00000 (Retract)
T6
M5 (Spindle stop.)
G04 P1.00000
(MSG, Change tool bit to drill size 1.5mm)
M6 (Tool change.)
M0 (Temporary machine stop.)
M3 (Spindle on clockwise.)
G0 Z3.50000
G04 P1.00000
G81 R3.50000 Z-1.75000 F200.00000 X-89.56000 Y60.98500
X-83.84500 Y66.06500
X-96.54500 Y50.19000
X-96.54500 Y45.11000
X-89.56000 Y40.66500
X-89.56000 Y35.58500
X-96.54500 Y24.15500
X-96.54500 Y19.07500
X-89.56000 Y15.26500
X-83.84500 Y10.18500
X-78.13000 Y15.26500
X-83.84500 Y30.50500
X-78.13000 Y35.58500
X-72.41500 Y30.50500
X-64.10000 Y31.02000
X-64.10000 Y23.52000
X-59.06000 Y23.52000
X-54.02000 Y23.52000
X-54.02000 Y31.02000
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X-83.84500 Y45.74500
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X-64.16000 Y71.78000
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X-59.06000 Y56.54000
X-54.02000 Y56.54000
X-54.02000 Y64.04000
X-59.06000 Y64.04000
X-54.00000 Y71.78000
X-48.92000 Y71.78000
X-38.76000 Y64.04000
X-32.41000 Y66.70000
X-27.58400 Y71.78000
X-22.50400 Y71.78000
X-38.76000 Y56.54000
X-32.41000 Y54.00000
X-32.41000 Y50.19000
X-38.75800 Y47.53000
X-38.75800 Y40.03000
X-32.41000 Y37.49000
X-32.41000 Y33.68000
X-38.76000 Y31.02000
X-38.76000 Y23.52000
X-32.41000 Y20.98000
X-32.41000 Y17.17000
X-38.75800 Y14.51000
X-32.41000 Y4.47000
X-38.75800 Y7.01000
X-54.01800 Y14.51000
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X-64.09800 Y14.51000
X-72.41500 Y10.18500
X-64.09800 Y7.01000
X-59.05800 Y7.01000
X-54.01800 Y7.01000
G80
G00 Z30.000 ( All done -- retract )
M5 (Spindle off.)
G04 P1.000000
M9 (Coolant off.)
M2 (Program end.)

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hardware/chairAdjust-relayBoard/pcb2gcode/out/outline.ngc Normal file
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( pcb2gcode 2.5.0 )
( Software-independent Gcode )
G94 ( Millimeters per minute feed rate. )
G21 ( Units == Millimeters. )
G90 ( Absolute coordinates. )
G00 S10000 ( RPM spindle speed. )
G64 P0.05000 ( set maximum deviation from commanded toolpath )
G01 F200.00000 ( Feedrate. )
G00 Z30.00000 (Retract to tool change height)
T1
M5 (Spindle stop.)
G04 P1.00000 (Wait for spindle to stop)
(MSG, Change tool bit to cutter diameter 0.00000mm)
M6 (Tool change.)
M0 (Temporary machine stop.)
M3 ( Spindle on clockwise. )
G04 P1.00000 (Wait for spindle to get up to speed)
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G00 Z3.50000 ( retract )
G00 X-0.02500 Y0.02500 ( rapid move to begin. )
G01 Z-0.45000 F60.00000 ( plunge. )
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G01 F200.00000
G01 X-0.02500 Y38.89500
G01 X-0.02500 Y39.89500
G01 X-0.02500 Y78.76500
G01 X-100.98997 Y78.76500
G01 X-100.98997 Y39.89500
G01 X-100.98997 Y38.89500
G01 X-100.98997 Y0.02500
G01 X-0.02500 Y0.02500
G01 Z-0.90000 F60.00000 ( plunge. )
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G01 F200.00000
G01 X-0.02500 Y38.89500
G00 Z-0.60000
G01 X-0.02500 Y39.89500
G01 Z-0.90000 F60.00000
G01 F200.00000
G01 X-0.02500 Y78.76500
G01 X-100.98997 Y78.76500
G01 X-100.98997 Y39.89500
G00 Z-0.60000
G01 X-100.98997 Y38.89500
G01 Z-0.90000 F60.00000
G01 F200.00000
G01 X-100.98997 Y0.02500
G01 X-0.02500 Y0.02500
G01 Z-1.35000 F60.00000 ( plunge. )
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G01 F200.00000
G01 X-0.02500 Y38.89500
G00 Z-0.60000
G01 X-0.02500 Y39.89500
G01 Z-1.35000 F60.00000
G01 F200.00000
G01 X-0.02500 Y78.76500
G01 X-100.98997 Y78.76500
G01 X-100.98997 Y39.89500
G00 Z-0.60000
G01 X-100.98997 Y38.89500
G01 Z-1.35000 F60.00000
G01 F200.00000
G01 X-100.98997 Y0.02500
G01 X-0.02500 Y0.02500
G01 Z-1.80000 F60.00000 ( plunge. )
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G01 F200.00000
G01 X-0.02500 Y38.89500
G00 Z-0.60000
G01 X-0.02500 Y39.89500
G01 Z-1.80000 F60.00000
G01 F200.00000
G01 X-0.02500 Y78.76500
G01 X-100.98997 Y78.76500
G01 X-100.98997 Y39.89500
G00 Z-0.60000
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G01 Z-1.80000 F60.00000
G01 F200.00000
G01 X-100.98997 Y0.02500
G01 X-0.02500 Y0.02500
G01 Z-2.25000 F60.00000 ( plunge. )
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G01 F200.00000
G01 X-0.02500 Y38.89500
G00 Z-0.60000
G01 X-0.02500 Y39.89500
G01 Z-2.25000 F60.00000
G01 F200.00000
G01 X-0.02500 Y78.76500
G01 X-100.98997 Y78.76500
G01 X-100.98997 Y39.89500
G00 Z-0.60000
G01 X-100.98997 Y38.89500
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G01 F200.00000
G01 X-100.98997 Y0.02500
G01 X-0.02500 Y0.02500
G01 Z-2.70000 F60.00000 ( plunge. )
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G01 F200.00000
G01 X-0.02500 Y38.89500
G00 Z-0.60000
G01 X-0.02500 Y39.89500
G01 Z-2.70000 F60.00000
G01 F200.00000
G01 X-0.02500 Y78.76500
G01 X-100.98997 Y78.76500
G01 X-100.98997 Y39.89500
G00 Z-0.60000
G01 X-100.98997 Y38.89500
G01 Z-2.70000 F60.00000
G01 F200.00000
G01 X-100.98997 Y0.02500
G01 X-0.02500 Y0.02500
G04 P0 ( dwell for no time -- G64 should not smooth over this point )
G00 Z30.000000 ( retract )
M5 ( Spindle off. )
G04 P1.000000
M9 ( Coolant off. )
M2 ( Program end. )

307
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