Refactor README.md
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README.md
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README.md
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# Overview
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Firmware for a homemade automated electric armchair.
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Extensive details about this project can be found on the website:
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This repository contains the firmware for a custom-built automated electric armchair.
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Detailed project information and documentation is available on the website:
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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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Note: In the current version V2.2, only the esp-project in the [board_single/](board_single) folder and the custom libraries in [common/](common) are used.
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The projects in the folders `board_control/` and `board_motorctl/` are no longer compatible and legacy from V2.1.
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<img src="doc/2023.09.09_armchair-frame.jpg" alt="Photo machine" style="width:60%;">
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**Note:** In the current version _V2.2_, only the esp-project in the [board_single/](board_single) folder and the custom libraries in [common/](common) are used.
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The projects in the folders `board_control/` and `board_motorctl/` are no longer compatible and are legacy from _V2.1_.
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<img src="doc/2023.09.09_armchair-frame.jpg" alt="Photo machine" style="width:60%;"><br>
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*Photo of the built frame that carries the armchair*
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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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# Overview
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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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- **Control Modes:**
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- **Joystick:** Control movement via hardware joystick mounted on the right armrest
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- **HTTP:** Control movement via virtual joystick on a web interface
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- **Massage:** Armchair shaking depending on stick position
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- **Adjust:** Control leg and backrest position via joystick
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- **Auto:** Execute stored driving commands sequentially
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- **Advanced Motor Control:**
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- Deceleration limit
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- Acceleration limit
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- Current limit
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- Braking
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- Compatible with different motor drivers:
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- 3 pins: A, B, PWM - e.g. various common H-Bridges
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- 1 pin: UART/RS232 - e.g. Sabertooth
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- **Input/Sensors:**
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- **Speed Measurement:** Measures speed and direction of each tire individually using custom built encoders
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- **Current Measurement:** Monitors current of each motor
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- **Battery Voltage:** Measures battery voltage and calculates percentage according to discharge curve
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- **Analog Joystick:**
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- Evaluate two analog signals to get coordinates, radius and angle
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- Calibration wizard/sequence
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- Calibration stored persistently in nvs
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- **Fan Control:** Cooling fan for motor driver are activated when needed only
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- **Buzzer:** Provides acoustic feedback when switching modes or interacting with menu
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- **OLED-Display + Rotary-encoder:**
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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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- Changed settings are stored persistently in NVS flash
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- Menu for selecting the control mode
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- **UART Communication between 2 Boards (V2.1)**
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- **Electric Chair Adjustment:** Control 4 Relays powering motors that adjust the chair rest positions
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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 + Rotary encoder:
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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 (options are stored persistently in nvs flash)
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- Menu for selecting the control mode
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- Buzzer: Provides acoustic feedback when switching modes or interacting with menu
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- HTTP API for controlling the chair (remote control)
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- **React web-app:** Virtual joystick sending data to http-API (placed in SPIFFS)
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## Planned Features
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#### Hardware
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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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- Lights
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- Camera
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#### Algorithms
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- Anti-Slip Regulation
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- Self-Driving Algorithm
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- Lights
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#### UI
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- Improved Web Interface
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- App
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- Camera
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- Settings
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- Chair adjustment
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- Simple App
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## Hardware Setup / Electrical
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### PCB
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The firmware 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](https://pfusch.zone/electric-armchair-v2).
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# Installation
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### Install esp-idf
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For this project **ESP-IDF v4.4.4** is required (with other versions it might not compile)
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### Install ESP-IDF
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For this project **ESP-IDF v4.4.4** is required
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```bash
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#download esp-idf
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yay -S esp-idf #alternatively clone the esp-idf repository from github
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#run installation script in installed folder
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/opt/esp-idf/install.sh
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```
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### Clone this repo
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### Clone Repository
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```
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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 using npm. TODO: add this to cmake?
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### Install Node Packages
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Navigate to the react-app directory and install required packages using npm:
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```
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cd react-app
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npm install
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```
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# Building the Project
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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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@ -95,31 +114,31 @@ npm run build
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#remove unwanted license file (filename too long for spiffs)
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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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**Note:** For testing the app locally, use `npm start`
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## Firmware
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### Set up environment
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### Environment Setup
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```bash
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source /opt/esp-idf/export.sh
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```
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(run once per terminal)
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Run once per terminal
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### Compile
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### Compilation
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```bash
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cd board_single
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idf.py build
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```
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### Upload
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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 flash command:
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- Connect FTDI programmer to board (GND to GND, TX to RX, RX to TX)
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- Press RESET and BOOT button
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- Release RESET button (keep pressing boot)
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- Release boot button
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- Run flash command:
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```bash
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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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@ -130,8 +149,6 @@ idf.py monitor
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# Usage / User Interface
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## Encoder Functions
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@ -167,6 +184,6 @@ idf.py monitor
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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 to HTTP mode (4 button presses).
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- Connect to WiFi `armchar`, no password.
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- Switch to HTTP mode (4 button presses or via mode-select menu).
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- Connect to WiFi `armchair`, 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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@ -4,6 +4,6 @@ dependencies:
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source:
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type: idf
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version: 4.4.4
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manifest_hash: dcf4d39b94252de130019eadceb989d72b0dbc26b552cfdcbb50f6da531d2b92
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manifest_hash: 81327a7819f5bc7bf271896e30d778a5c5f8f8f754dfbc8e245723b4a37d3107
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target: esp32
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version: 1.0.0
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