armchair_fw/board_motorctl

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 v4.4.4 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
• drinks holder
• improved webinterface

Todo

Add switch functions

• set loglevel
• define max-speed
• calibrate joystick (min, max, center)
• testing mode / dry-run

Usage

Switch functions

Currently implemented

Count	Type	Action	Description
1x	configure	[JOYSTICK] calibrate stick	when in joystick mode: set joystick center to current joystick pos
1x	control	[MASSAGE] freeze input	when in massage mode: lock or unlock joystick input at current position
2x	toggle mode	IDLE <=> previous	enable/disable chair armchair e.g. enable after startup or timeout
3x	switch mode	JOYSTICK	switch to default mode JOYSTICK
4x	toggle mode	HTTP <=> JOYSTICK	switch to 'remote control via web-app http://191.168.4.1' or back to JOYSTICK mode
5x
6x	toggle mode	MASSAGE <=> JOYSTICK	switch to MASSAGE mode or back to JOYSTICK mode
7x
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 swapped)
>1s	system	restart	Restart the controller when pressing the button longer than 1 second
1x short, 1x long	auto command	eject foot support	automatically go forward and reverse for certain time with no acceleration limits, so foot support ejects

HTTP mode

Control armchair via virtual joystick on a webinterface.

Usage

• Connect to wifi armchar, no password
• Access http://192.168.4.1 (note: http NOT https, some browsers automatically add https!)

Current Features

• Control direction and speed with joystick

Todo

• Set parameters
• Control other modes
• Execute preset movement commands