diff --git a/README.md b/README.md index 5d1d96e..19002a7 100644 --- a/README.md +++ b/README.md @@ -1,91 +1,110 @@ # Overview -Firmware for a homemade automated electric armchair. -Extensive details about this project can be found on the website: +This repository contains the firmware for a custom-built automated electric armchair. +Detailed project information and documentation is available on the website: - ~~V1: [Electric Armchair V1](https://pfusch.zone/electric-armchair)~~ - V2: [Electric Armchair V2](https://pfusch.zone/electric-armchair-v2) -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. -The projects in the folders `board_control/` and `board_motorctl/` are no longer compatible and legacy from V2.1. - -Photo machine +**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. +The projects in the folders `board_control/` and `board_motorctl/` are no longer compatible and are legacy from _V2.1_. +Photo machine
*Photo of the built frame that carries the armchair* -## Hardware Setup / Electrical -### PCB -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) - -### 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. - +# Overview ## Current Features -- Control Modes: - - Joystick: Control via hardware joystick mounted on the right armrest - - HTTP: Control via virtual joystick on a web interface - - Massage: Armchair shaking depending on stick position - - Auto: Execute stored driving commands sequentially -- Electric Chair Adjustment: Leg and backrest control via joystick -- Advanced Motor Control: Configurable motor fading (acceleration, deceleration limit), current limit, braking; compatible with different hardware -- Wi-Fi: +- **Control Modes:** + - **Joystick:** Control movement via hardware joystick mounted on the right armrest + - **HTTP:** Control movement via virtual joystick on a web interface + - **Massage:** Armchair shaking depending on stick position + - **Adjust:** Control leg and backrest position via joystick + - **Auto:** Execute stored driving commands sequentially +- **Advanced Motor Control:** + - Deceleration limit + - Acceleration limit + - Current limit + - Braking + - Compatible with different motor drivers: + - 3 pins: A, B, PWM - e.g. various common H-Bridges + - 1 pin: UART/RS232 - e.g. Sabertooth +- **Input/Sensors:** + - **Speed Measurement:** Measures speed and direction of each tire individually using custom built encoders + - **Current Measurement:** Monitors current of each motor + - **Battery Voltage:** Measures battery voltage and calculates percentage according to discharge curve + - **Analog Joystick:** + - Evaluate two analog signals to get coordinates, radius and angle + - Calibration wizard/sequence + - Calibration stored persistently in nvs +- **Fan Control:** Cooling fan for motor driver are activated when needed only +- **Buzzer:** Provides acoustic feedback when switching modes or interacting with menu +- **OLED-Display + Rotary-encoder:** + - Various status screens showing battery status, speed, RPM, motor current, mode, power, duty cycle, stick data + - Menu for setting various options using encoder + - Changed settings are stored persistently in NVS flash + - Menu for selecting the control mode +- **UART Communication between 2 Boards (V2.1)** +- **Electric Chair Adjustment:** Control 4 Relays powering motors that adjust the chair rest positions +- **Wi-Fi:** - Hosts wireless network - Webserver with webroot in SPIFFS - - HTTP API for controlling the chair -- UART Communication between 2 boards (V2.1) -- Speed Measurement: Measures speed and direction of each tire individually using custom encoders -- Current Measurement: Monitors current of each motor -- Battery Capacity: Measures battery voltage and calculates percentage according to discharge curve -- Fan Control: Cooling fan for motor driver activated only when needed -- Display + Rotary encoder: - - Various status screens showing battery status, speed, RPM, motor current, mode, power, duty cycle, stick data - - Menu for setting various options using encoder (options are stored persistently in nvs flash) - - Menu for selecting the control mode -- Buzzer: Provides acoustic feedback when switching modes or interacting with menu + - HTTP API for controlling the chair (remote control) +- **React web-app:** Virtual joystick sending data to http-API (placed in SPIFFS) + ## Planned Features +#### Hardware - More Sensors: - Accelerometer - Lidar sensor / collision detection - GPS receiver - Temperature sensors +- Lights +- Camera +#### Algorithms - Anti-Slip Regulation - Self-Driving Algorithm -- Lights +#### UI - Improved Web Interface -- App -- Camera + - Settings + - Chair adjustment +- Simple App + + +## Hardware Setup / Electrical +### 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). # Installation -### Install esp-idf -For this project **ESP-IDF v4.4.4** is required (with other versions it might not compile) +### Install ESP-IDF +For this project **ESP-IDF v4.4.4** is required ```bash #download esp-idf yay -S esp-idf #alternatively clone the esp-idf repository from github #run installation script in installed folder /opt/esp-idf/install.sh ``` -### Clone this repo +### Clone Repository ``` git clone git@github.com:Jonny999999/armchair_fw ``` -### Instal node packages -For the react app packages have to be installed using npm. TODO: add this to cmake? +### Install Node Packages +Navigate to the react-app directory and install required packages using npm: ``` cd react-app npm install ``` - # Building the Project ## React-webapp When flashing to the ESP32, the files in the `react-app/build/` folder are written to a SPIFFS partition. These files are then served via HTTP in the Wi-Fi network "armchair" created by the ESP32. -In HTTP control mode, you can control the armchair using a joystick on the provided website. Initially, or when changing the React code, you need to manually build the React app: ```bash @@ -95,31 +114,31 @@ npm run build #remove unwanted license file (filename too long for spiffs) rm build/static/js/main.8f9aec76.js.LICENSE.txt ``` -Note: Use `npm start` for starting the webapp locally for testing +**Note:** For testing the app locally, use `npm start` ## Firmware -### Set up environment +### Environment Setup ```bash source /opt/esp-idf/export.sh ``` -(run once per terminal) +Run once per terminal -### Compile +### Compilation ```bash cd board_single idf.py build ``` ### Upload -- connect FTDI programmer to board (VCC to VCC; TX to RX; RX to TX) -- press REST and BOOT button -- release RESET button (keep pressing boot) -- run flash command: +- Connect FTDI programmer to board (GND to GND, TX to RX, RX to TX) +- Press RESET and BOOT button +- Release RESET button (keep pressing boot) +- Release boot button +- Run flash command: ```bash idf.py flash ``` -- once "connecting...' was successfully, BOOT button can be released ### Monitor @@ -130,8 +149,6 @@ idf.py monitor - - # Usage / User Interface ## Encoder Functions @@ -167,6 +184,6 @@ idf.py monitor Control the armchair via a virtual joystick on the web interface. **Usage:** -- Switch to HTTP mode (4 button presses). -- Connect to WiFi `armchar`, no password. +- Switch to HTTP mode (4 button presses or via mode-select menu). +- Connect to WiFi `armchair`, no password. - Access http://192.168.4.1 (note: **http** NOT https, some browsers automatically add https!). \ No newline at end of file diff --git a/board_single/dependencies.lock b/board_single/dependencies.lock index 7a46da1..36a9898 100644 --- a/board_single/dependencies.lock +++ b/board_single/dependencies.lock @@ -4,6 +4,6 @@ dependencies: source: type: idf version: 4.4.4 -manifest_hash: dcf4d39b94252de130019eadceb989d72b0dbc26b552cfdcbb50f6da531d2b92 +manifest_hash: 81327a7819f5bc7bf271896e30d778a5c5f8f8f754dfbc8e245723b4a37d3107 target: esp32 version: 1.0.0