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README.md
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# Overview # Overview
Firmware for a homemade automated electric armchair. This repository contains the firmware for a custom-built automated electric armchair.
Extensive details about this project can be found on the website: Detailed project information and documentation is available on the website:
- ~~V1: [Electric Armchair V1](https://pfusch.zone/electric-armchair)~~ - ~~V1: [Electric Armchair V1](https://pfusch.zone/electric-armchair)~~
- V2: [Electric Armchair V2](https://pfusch.zone/electric-armchair-v2) - 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. **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. The projects in the folders `board_control/` and `board_motorctl/` are no longer compatible and are legacy from _V2.1_.
<img src="doc/2023.09.09_armchair-frame.jpg" alt="Photo machine" style="width:60%;">
<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* *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 ## Current Features
- Control Modes: - **Control Modes:**
- Joystick: Control via hardware joystick mounted on the right armrest - **Joystick:** Control movement via hardware joystick mounted on the right armrest
- HTTP: Control via virtual joystick on a web interface - **HTTP:** Control movement via virtual joystick on a web interface
- Massage: Armchair shaking depending on stick position - **Massage:** Armchair shaking depending on stick position
- Auto: Execute stored driving commands sequentially - **Adjust:** Control leg and backrest position via joystick
- Electric Chair Adjustment: Leg and backrest control via joystick - **Auto:** Execute stored driving commands sequentially
- Advanced Motor Control: Configurable motor fading (acceleration, deceleration limit), current limit, braking; compatible with different hardware - **Advanced Motor Control:**
- Wi-Fi: - 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 - Hosts wireless network
- Webserver with webroot in SPIFFS - Webserver with webroot in SPIFFS
- HTTP API for controlling the chair - HTTP API for controlling the chair (remote control)
- UART Communication between 2 boards (V2.1) - **React web-app:** Virtual joystick sending data to http-API (placed in SPIFFS)
- 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
## Planned Features ## Planned Features
#### Hardware
- More Sensors: - More Sensors:
- Accelerometer - Accelerometer
- Lidar sensor / collision detection - Lidar sensor / collision detection
- GPS receiver - GPS receiver
- Temperature sensors - Temperature sensors
- Lights
- Camera
#### Algorithms
- Anti-Slip Regulation - Anti-Slip Regulation
- Self-Driving Algorithm - Self-Driving Algorithm
- Lights #### UI
- Improved Web Interface - Improved Web Interface
- App - Settings
- Camera - 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 # Installation
### Install esp-idf ### Install ESP-IDF
For this project **ESP-IDF v4.4.4** is required (with other versions it might not compile) For this project **ESP-IDF v4.4.4** is required
```bash ```bash
#download esp-idf #download esp-idf
yay -S esp-idf #alternatively clone the esp-idf repository from github yay -S esp-idf #alternatively clone the esp-idf repository from github
#run installation script in installed folder #run installation script in installed folder
/opt/esp-idf/install.sh /opt/esp-idf/install.sh
``` ```
### Clone this repo ### Clone Repository
``` ```
git clone git@github.com:Jonny999999/armchair_fw git clone git@github.com:Jonny999999/armchair_fw
``` ```
### Instal node packages ### Install Node Packages
For the react app packages have to be installed using npm. TODO: add this to cmake? Navigate to the react-app directory and install required packages using npm:
``` ```
cd react-app cd react-app
npm install npm install
``` ```
# Building the Project # Building the Project
## React-webapp ## React-webapp
When flashing to the ESP32, the files in the `react-app/build/` folder are written to a SPIFFS partition. 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. 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: Initially, or when changing the React code, you need to manually build the React app:
```bash ```bash
@ -95,31 +114,31 @@ npm run build
#remove unwanted license file (filename too long for spiffs) #remove unwanted license file (filename too long for spiffs)
rm build/static/js/main.8f9aec76.js.LICENSE.txt 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 ## Firmware
### Set up environment ### Environment Setup
```bash ```bash
source /opt/esp-idf/export.sh source /opt/esp-idf/export.sh
``` ```
(run once per terminal) Run once per terminal
### Compile ### Compilation
```bash ```bash
cd board_single cd board_single
idf.py build idf.py build
``` ```
### Upload ### Upload
- connect FTDI programmer to board (VCC to VCC; TX to RX; RX to TX) - Connect FTDI programmer to board (GND to GND, TX to RX, RX to TX)
- press REST and BOOT button - Press RESET and BOOT button
- release RESET button (keep pressing boot) - Release RESET button (keep pressing boot)
- run flash command: - Release boot button
- Run flash command:
```bash ```bash
idf.py flash idf.py flash
``` ```
- once "connecting...' was successfully, BOOT button can be released
### Monitor ### Monitor
@ -130,8 +149,6 @@ idf.py monitor
# Usage / User Interface # Usage / User Interface
## Encoder Functions ## Encoder Functions
@ -167,6 +184,6 @@ idf.py monitor
Control the armchair via a virtual joystick on the web interface. Control the armchair via a virtual joystick on the web interface.
**Usage:** **Usage:**
- Switch to HTTP mode (4 button presses). - Switch to HTTP mode (4 button presses or via mode-select menu).
- Connect to WiFi `armchar`, no password. - Connect to WiFi `armchair`, no password.
- Access http://192.168.4.1 (note: **http** NOT https, some browsers automatically add https!). - Access http://192.168.4.1 (note: **http** NOT https, some browsers automatically add https!).

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board_single/dependencies.lock
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source: source:
type: idf type: idf
version: 4.4.4 version: 4.4.4
manifest_hash: dcf4d39b94252de130019eadceb989d72b0dbc26b552cfdcbb50f6da531d2b92 manifest_hash: 81327a7819f5bc7bf271896e30d778a5c5f8f8f754dfbc8e245723b4a37d3107
target: esp32 target: esp32
version: 1.0.0 version: 1.0.0