436c528eaf
With this changes the motors are faded down (same as already existing fading up) when the target duty suddenly decreases. It can be configured or disabled with setting msFadeDown to 0 in config struct of motorctl object. - Add new config parameter msFadeDown - Change msFade to msFadeDown - Add fade down functionality to motorctl instead of just setting the duty to lower value !!!TODO: fix major BUG when motor direction changes suddenly (before fade got to 0) the motor immediately starts in other direction with previous duty (no/less fading up happening)
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) |