1c6586c29e
- joystick.hpp/cpp
- add function joystick_scaleCoordinatesExp(joystickData_t * data, float exponent)
which updates joystick data with its scaled coordinates and
re-calculated radius
- control.cpp
- scale coordinates exponential (pow 2) in JOYSTICK mode
- scale coordinates exponential (pow 2) in HTTP mode
- config.cpp
- fixed swapped x/y zero tolerances for hardware joystick
Note: tested armchair with scaling exponents 1.5; 2; 3 and noticed that
2 works best
Firmware for a homemade automated electric armchair.
More details about this project: https://pfusch.zone/electric-armchair
Installation
Install esp-idf
For this project ESP-IDF v4.4.1 is required (with other versions it might not compile)
#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
git clone git@github.com:Jonny999999/armchair_fw
Instal node packages
For the react app packages have to be installed with npm TODO: add this to cmake?
cd react-app
npm install
Compilation
react-webapp
For the webapp to work on the esp32 it has to be built. When flashing, the folder react-app/build is flashed to siffs (which is used as webroot) onto the esp32. The following command builds the react webapp and creates this folder TODO: add this to flash target with cmake?
cd react-app
#compile
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
esp project
Set up environment
source /opt/esp-idf/export.sh
(run once in terminal)
Compile
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:
idf.py flash
- once "connecting...' successfully, BOOT button can be released
Monitor
- 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 monitor command:
idf.py monitor
- once connected release BOOT button
- press RESET button once for restart
Hardware setup
pcb
Used pcb developed in this project: https://pfusch.zone/project-work-2020
connection plan
A diagram which shows what components are connected to which terminals of the pcb exists here:
connection-plan.drawio.pdf
Planned Features
- More sensors:
- Accelerometer
- Lidar sensor
- GPS receiver
- Anti slip regulation
- Self driving algorithm
- Lights
Usage
Switch functions
Currently implemented
| Count | Action |
|---|---|
| 1 | |
| 2 | toggle IDLE mode |
| 3 | |
| 4 | toggle between HTTP and JOYSTICK mode |
| 5 | |
| 6 | toggle between MASSAGE and JOYSTICK mode |
| 7 |
previous functions - not implemented
| Count | Action |
|---|---|
| 1 | define joystick center |
| 2 | toggle motors |
| 3 | toggle log-level (WARN, DEBUG, INFO) |
| 4 | define max duty |
| 5 | toggle mode MQTT/JOYSTICK |
| 6 | toggle mode SHAKE/JOYSTICK |
| 7 | toggle testing-mode (dry-run) |