241 lines
9.5 KiB
Markdown
241 lines
9.5 KiB
Markdown
# Overview
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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 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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<br>
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## Current Features
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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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- Web server with webroot in SPIFFS
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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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#### UI
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- Improved Web Interface
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- Settings
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- Chair adjustment
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- Simple App
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<br>
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## Hardware Setup / Electrical
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### Control-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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### Chair-Adjust Relay-Board
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A custom pcb with relays and protection for controlling the 2 motors that adjust the rest positions of the armchair was created in this repository as well:
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Date: 2024.09.08
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Folder: [hardware/chairAdjust-relayBoard](hardware/chairAdjust-relayBoard)
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Schematic: [hardware/chairAdjust-relayBoard/export/schematic.pdf](hardware/chairAdjust-relayBoard/export/schematic.pdf)
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<br>
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<br>
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<p align="center">
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<img src="hardware/chairAdjust-relayBoard/export/layout.svg" style="width: 40%;">
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<img src="hardware/chairAdjust-relayBoard/export/layout.jpg" width="36%" />
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</p>
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<br>
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<br>
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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
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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 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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### 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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<br>
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<br>
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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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Initially, or when changing the React code, you need to manually build the React app:
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```bash
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cd react-app
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#compile
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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:** For testing the app locally, use `npm start`
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## Firmware
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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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### 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 (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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### Monitor
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To view log output for debugging, follow the same steps as in the Upload section, but run:
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```bash
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idf.py monitor
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```
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<br>
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<br>
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# Usage / User Interface
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## Quickstart
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- **Browse / select any mode**
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- `[long press]` opens menu for selecting the desired mode (*JOYSTICK* for driving)
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- **Driving**
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- `[3x click]` enters *JOYSTICK* mode
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- **Rest position**
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- `[rotate]` adjusts the leg rest position
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- `[press + rotate]` at the same time: adjusts the back rest position
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- alternatively enter *ADJUST* mode and control rests via joystick
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<br>
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## Encoder Functions
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- *When not in MENU mode*, **rotating the encoder** has the following functions:
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| Encoder Event | Action |
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|---------------------|---------------------------|
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| rotate left | Move leg rest up by 10% |
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| rotate right | Move leg rest DOWN by 10% |
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| press + rotate left | Move back rest down by 5% |
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| press + rotate left | Move back rest up by 5% |
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Note: first tick is ignored -> quickly rotate 2 ticks at first
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<br>
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- *When not in MENU mode*, **clicking the encoder** has the following functions:
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| Count | Type | Action | Description |
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|-------|---------------|----------------------|---------------------------------------------------------------------------------------------|
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| 1x long | switch mode | **MENU_MODE_SELECT** | Open **menu for selecting the current control mode** |
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| 1x | control | [MASSAGE] **freeze** input | When in massage mode: lock or unlock joystick input at current position. |
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| 1x short, 1x long | switch mode | **ADJUST-CHAIR** | Switch to mode where the armchair leg and backrest are controlled via joystick. |
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| 2x | toggle mode | **IDLE** <=> previous| Enable/disable chair armchair (e.g., enable after startup or switch to previous mode after timeout). |
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| 3x | switch mode | **JOYSTICK** | Switch to JOYSTICK mode, to control armchair using joystick (default). |
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| 4x | switch mode | **HTTP** | Switch to **remote control** via web-app `http://191.168.4.1` in wifi `armchair`. |
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| 5x | switch mode | **MENU_SETTINGS** | Open menu to set various options, controlled via display and rotary encoder. |
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| 6x | switch mode | **MASSAGE** | Switch to MASSAGE mode where armchair shakes differently, depending on joystick position. |
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| 7x | | | |
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| 8x | toggle option| **deceleration limit** | Disable/enable deceleration limit (default on) => more responsive. |
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| 12x | toggle option| **alt stick mapping** | Toggle between default and alternative stick mapping (reverse direction swapped). |
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<br>
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- When in **MENU_SETTINGS mode** (5x click), the encoder controls the settings menu: (similar in MENU_MODE_SELECT)
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| Encoder Event | Current Menu | Action |
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|---------------|--------------|--------------------------------------------------------------|
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| long press | main-menu | Exit MENU mode to previous control mode (e.g., JOYSTICK). |
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| long press | value-select | Exit to main-menu without changing the value. |
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| click | main-menu | Select currently highlighted menu item -> enter value-select screen. |
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| click | value-select | Confirm value / run action. |
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| rotate | main-menu | Scroll through menu items. |
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| rotate | value-select | Change value. |
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<br>
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## HTTP Mode
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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 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!). |