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🦾 Adds kinematics

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This commit is contained in:
Rune Harlyk
2024-05-09 20:28:25 +02:00
committed by Rune Harlyk
parent c2d5195243
commit 0ae82776e1
9 changed files with 375 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/src/routes/controller/Controls.svelte
+2 -1
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@@ -68,7 +68,8 @@
};
const handleRange = (event:Event, key: 'speed' | 'height') => {
const value:number = event.detail
const value:number = event.target?.value
input.update((inputData) => {
inputData[key] = value;
return inputData;
esp32/.vscode/c_cpp_properties.json
Vendored
+62 -40
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@@ -8,23 +8,35 @@
{
"name": "PlatformIO",
"includePath": [
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/include",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/lib/ESP32-sveltekit",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/include",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/ESP32-sveltekit",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/Adafruit_HMC5883_Unified-1.2.3",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/Adafruit_BMP085_Unified-1.1.3",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/Adafruit_Unified_Sensor-1.1.14",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/LittleFS/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/HTTPUpdate/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Update/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/HTTPClient/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/DNSServer/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/lib/PsychicHttp/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/PsychicHttp/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/FS/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/libdeps/esp32dev/UrlEncode/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/libdeps/esp32dev/ArduinoTrace",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/UrlEncode/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/ArduinoTrace",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/ESPmDNS/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/libdeps/esp32dev/PsychicMqttClient/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/Adafruit PWM Servo Driver Library",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/Adafruit SSD1306",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/Adafruit GFX Library",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/Adafruit BusIO",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/I2Cdevlib-MPU6050",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/I2Cdevlib-Core",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Wire/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/NewPing/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/PsychicMqttClient/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WiFiClientSecure/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WiFi/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/libdeps/esp32dev/ArduinoJson/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/ArduinoJson/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/newlib/platform_include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/freertos/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/freertos/include/esp_additions/freertos",
@@ -183,13 +195,11 @@
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/layer",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/detect",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/model_zoo",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/src/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/esp-tts/esp_tts_chinese/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/include/esp32",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp32-camera/driver/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp32-camera/conversions/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/dotprod/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/support/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/support/mem/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/hann/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/blackman/include",
@@ -217,8 +227,8 @@
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/dio_qspi/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/cores/esp32",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/variants/esp32",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/lib/spot_micro_kinematcs_cpp/include",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/lib/spot_micro_kinematcs_cpp",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/ArduinoJson@6.21.5/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/MPU6050_light/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/ArduinoOTA/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/AsyncUDP/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/BLE/src",
@@ -235,36 +245,46 @@
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/RainMaker/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SD/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SD_MMC/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SPIFFS/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SimpleBLE/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Ticker/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/USB/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WebServer/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WiFiProv/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Wire/src",
""
],
"browse": {
"limitSymbolsToIncludedHeaders": true,
"path": [
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/include",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/lib/ESP32-sveltekit",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/include",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/ESP32-sveltekit",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/Adafruit_HMC5883_Unified-1.2.3",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/Adafruit_BMP085_Unified-1.1.3",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/Adafruit_Unified_Sensor-1.1.14",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/LittleFS/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/HTTPUpdate/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Update/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/HTTPClient/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/DNSServer/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/lib/PsychicHttp/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/lib/PsychicHttp/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/FS/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/libdeps/esp32dev/UrlEncode/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/libdeps/esp32dev/ArduinoTrace",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/UrlEncode/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/ArduinoTrace",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/ESPmDNS/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/libdeps/esp32dev/PsychicMqttClient/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/Adafruit PWM Servo Driver Library",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/Adafruit SSD1306",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/Adafruit GFX Library",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/Adafruit BusIO",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/I2Cdevlib-MPU6050",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/I2Cdevlib-Core",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Wire/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/NewPing/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/PsychicMqttClient/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WiFiClientSecure/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WiFi/src",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/libdeps/esp32dev/ArduinoJson/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/ArduinoJson/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/newlib/platform_include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/freertos/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/freertos/include/esp_additions/freertos",
@@ -423,13 +443,11 @@
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/layer",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/detect",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/model_zoo",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/src/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/esp-tts/esp_tts_chinese/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/include/esp32",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp32-camera/driver/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp32-camera/conversions/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/dotprod/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/support/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/support/mem/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/hann/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/blackman/include",
@@ -457,8 +475,8 @@
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/dio_qspi/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/cores/esp32",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/variants/esp32",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/lib/spot_micro_kinematcs_cpp/include",
"C:/data/repos/Hardware/Spot Micro - Leika/esp32/lib/spot_micro_kinematcs_cpp",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/ArduinoJson@6.21.5/src",
"C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/libdeps/esp32dev/MPU6050_light/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/ArduinoOTA/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/AsyncUDP/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/BLE/src",
@@ -475,28 +493,26 @@
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/RainMaker/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SD/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SD_MMC/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SPIFFS/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SimpleBLE/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Ticker/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/USB/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WebServer/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WiFiProv/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Wire/src",
""
]
},
"defines": [
"PLATFORMIO=60114",
"PLATFORMIO=60115",
"ARDUINO_ESP32_DEV",
"APP_NAME=\"Spot-Micro\"",
"APP_VERSION=\"0.0.1\"",
"FACTORY_WIFI_SSID=\"\"",
"FACTORY_WIFI_PASSWORD=\"\"",
"FACTORY_WIFI_HOSTNAME=\"#{platform}-#{unique_id}\"",
"FACTORY_WIFI_HOSTNAME=\"spot-micro\"",
"FACTORY_AP_PROVISION_MODE=AP_MODE_DISCONNECTED",
"FACTORY_AP_SSID=\"Spot-Micro-#{unique_id}\"",
"FACTORY_AP_PASSWORD=\"esp-react\"",
"FACTORY_AP_PASSWORD=\"spot-leika\"",
"FACTORY_AP_CHANNEL=1",
"FACTORY_AP_SSID_HIDDEN=false",
"FACTORY_AP_MAX_CLIENTS=4",
@@ -526,18 +542,24 @@
"FACTORY_JWT_SECRET=\"#{random}-#{random}\"",
"FT_BATTERY=0",
"FT_NTP=1",
"FT_SECURITY=1",
"FT_SECURITY=0",
"FT_MQTT=0",
"FT_SLEEP=0",
"FT_UPLOAD_FIRMWARE=1",
"FT_DOWNLOAD_FIRMWARE=1",
"FT_UPLOAD_FIRMWARE=0",
"FT_DOWNLOAD_FIRMWARE=0",
"FT_ANALYTICS=1",
"FT_IMU=1",
"FT_MAG=1",
"FT_BMP=1",
"FT_GPS=1",
"BUILD_TARGET=\"esp32dev\"",
"ESP32SVELTEKIT_RUNNING_CORE=0",
"EMBED_WWW",
"ENABLE_CORS",
"SERVE_CONFIG_FILES",
"CORS_ORIGIN=\"*\"",
"CORE_DEBUG_LEVEL=5",
"ENABLE_CORS",
"CORE_DEBUG_LEVEL=3",
"register=",
"LED_BUILTIN=2",
"KEY_BUILTIN=0",
"HAVE_CONFIG_H",
@@ -545,7 +567,7 @@
"UNITY_INCLUDE_CONFIG_H",
"WITH_POSIX",
"_GNU_SOURCE",
"IDF_VER=\"v4.4.4\"",
"IDF_VER=\"v4.4.6-dirty\"",
"ESP_PLATFORM",
"_POSIX_READER_WRITER_LOCKS",
"ARDUINO_ARCH_ESP32",
@@ -559,7 +581,7 @@
],
"cStandard": "gnu99",
"cppStandard": "gnu++17",
"compilerPath": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32/bin/xtensa-esp32-elf-gcc.exe",
"compilerPath": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32@8.4.0+2021r2-patch5/bin/xtensa-esp32-elf-gcc.exe",
"compilerArgs": [
"-mlongcalls",
""
esp32/.vscode/extensions.json
Vendored
+4 -1
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@@ -1,7 +1,10 @@
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": ["platformio.platformio-ide", "esbenp.prettier-vscode"],
"recommendations": [
"esbenp.prettier-vscode",
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
esp32/.vscode/launch.json
Vendored
+6 -6
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@@ -12,9 +12,9 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
"executable": "C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/build/esp32dev/firmware.elf",
"executable": "C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/build/esp32dev/firmware.elf",
"projectEnvName": "esp32dev",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32/bin",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32@8.4.0+2021r2-patch5/bin",
"internalConsoleOptions": "openOnSessionStart",
"preLaunchTask": {
"type": "PlatformIO",
@@ -25,18 +25,18 @@
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
"executable": "C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/build/esp32dev/firmware.elf",
"executable": "C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/build/esp32dev/firmware.elf",
"projectEnvName": "esp32dev",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32/bin",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32@8.4.0+2021r2-patch5/bin",
"internalConsoleOptions": "openOnSessionStart"
},
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (without uploading)",
"executable": "C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/build/esp32dev/firmware.elf",
"executable": "C:/data/repos/Hardware/Spot_Micro_Leika/esp32/.pio/build/esp32dev/firmware.elf",
"projectEnvName": "esp32dev",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32/bin",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32@8.4.0+2021r2-patch5/bin",
"internalConsoleOptions": "openOnSessionStart",
"loadMode": "manual"
}
esp32/build/firmware/Spot-Micro_esp32cam_0-0-1.bin
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esp32/build/firmware/Spot-Micro_esp32cam_0-0-1.md5
+1
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@@ -0,0 +1 @@
e26accd60ea0ebc13e6ab02a735aa5ee
esp32/lib/ESP32-sveltekit/Kinematics.h
+171
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@@ -0,0 +1,171 @@
#ifndef Kinematics_h
#define Kinematics_h
#include <cmath>
#include <esp_dsp.h>
typedef struct {
float omega;
float phi;
float psi;
float xm;
float ym;
float zm;
bool set;
} position_t;
#define RAD2DEGREES 57.295779513082321 // 180 / PI
#define DEGREES2RAD 0.017453292519943
class Kinematics
{
private:
dspm::Mat Tlf;
dspm::Mat Trf;
dspm::Mat Tlb;
dspm::Mat Trb;
float inverse[4][4];
dspm::Mat Ix;
public:
float l1, l2, l3, l4;
float L, W;
Kinematics(){
l1 = 50;
l2 = 20;
l3 = 120;
l4 = 155;
L = 140;
W = 75;
float Ix_data[] = {-1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1};
dspm::Mat Ix(Ix_data, 4, 4);
}
~Kinematics(){}
esp_err_t calculate_inverse_kinematics(float lp[4][4], position_t p, float result[12]) {
esp_err_t res = bodyIK(p);
for (int i = 0; i < 4; ++i) {
dspm::Mat temp(lp[i], 4, 1);
dspm::Mat result_vec(4, 1);
if (i == 1 || i == 3) {
result_vec = Ix * ((i == 1 ? Trf.inverse() : Trb.inverse()) * temp);
} else {
result_vec = (i == 0 ? Tlf.inverse() : Tlb.inverse()) * temp;
}
legIK(result_vec.data, &result[i * 3]);
}
return res;
}
esp_err_t bodyIK(position_t p) {
float cos_omega = cos(p.omega*DEGREES2RAD);
float sin_omega = sin(p.omega*DEGREES2RAD);
float cos_phi = cos(p.phi*DEGREES2RAD);
float sin_phi = sin(p.phi*DEGREES2RAD);
float cos_psi = cos(p.psi*DEGREES2RAD);
float sin_psi = sin(p.psi*DEGREES2RAD);
float Rx_data[] = {
1, 0, 0, 0,
0, cos_omega, -sin_omega, 0,
0, sin_omega, cos_omega, 0,
0, 0, 0, 1
};
dspm::Mat Rx(Rx_data, 4, 4);
float Ry_data[] = {
cos_phi, 0, sin_phi, 0,
0, 1, 0, 0,
-sin_phi, 0, cos_phi, 0,
0, 0, 0, 1
};
dspm::Mat Ry(Ry_data, 4, 4);
float Rz_data[] = {
cos_psi, -sin_psi, 0, 0,
sin_psi, cos_psi, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
};
dspm::Mat Rz(Rz_data, 4, 4);
dspm::Mat Rxyz = Rx * Ry * Rz;
float T_data[] = {
0, 0, 0, p.xm,
0, 0, 0, p.ym,
0, 0, 0, p.zm,
0, 0, 0, 0
};
dspm::Mat T(T_data, 4, 4);
dspm::Mat Tm = T + Rxyz;
float sHp = sin(M_PI / 2);
float cHp = cos(M_PI / 2);
float points_lf[] = {
cHp, 0, sHp, L / 2,
0, 1, 0, 0,
-sHp, 0, cHp, W / 2,
0, 0, 0, 1
};
Tlf = Tm * dspm::Mat(points_lf, 4, 4);
float points_rf[] = {
cHp, 0, sHp, L / 2,
0, 1, 0, 0,
-sHp, 0, cHp, -W / 2,
0, 0, 0, 1
};
Trf = Tm * dspm::Mat(points_rf, 4, 4);
float points_lb[] = {
cHp, 0, sHp, -L / 2,
0, 1, 0, 0,
-sHp, 0, cHp, W / 2,
0, 0, 0, 1
};
Tlb = Tm * dspm::Mat(points_lb, 4, 4);
float points_rb[] = {
cHp, 0, sHp, -L / 2,
0, 1, 0, 0,
-sHp, 0, cHp, -W / 2,
0, 0, 0, 1
};
Trb = Tm * dspm::Mat(points_rb, 4, 4);
return ESP_OK;
}
void legIK(float point[4], float result[3]) {
float x = point[0];
float y = point[1];
float z = point[2];
float F = sqrt(x * x + y * y - l1 * l1);
if (isnan(F)) F = l1;
float G = F - l2;
float H = sqrt(G * G + z * z);
result[0] = -atan2(y, x) - atan2(F, -l1);
result[2] = acos((H * H - l3 * l3 - l4 * l4) / (2 * l3 * l4));
if (isnan(result[2])) result[2] = 0;
result[1] = atan2(z, G) - atan2(l4 * sin(result[2]), l3 + l4 * cos(result[2]));
result[0] *= RAD2DEGREES;
result[1] *= RAD2DEGREES;
result[2] *= RAD2DEGREES;
}
};
#endif
esp32/lib/ESP32-sveltekit/MotionService.h
+30
View File
@@ -3,6 +3,7 @@
#include <EventSocket.h>
#include <TaskManager.h>
#include <Kinematics.h>
#define DEFAULT_STATE false
#define LIGHT_SETTINGS_ENDPOINT_PATH "/api/input"
@@ -96,6 +97,33 @@ class MotionService
}
}
break;
case MOTION_STATE::STAND: {
float lp[4][4] = {
{ 100, -100, 100, 1},
{ 100, -100, -100, 1},
{-100, -100, 100, 1},
{-100, -100, -100, 1}
};
position_t p = {0, 0, 0, 0, static_cast<float>(input[5]), 0, input[0]};
float new_angles[12] = {0,};
float dir[12] = {-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, -1};
kinematics.calculate_inverse_kinematics(lp, p, new_angles);
for (int i = 0; i < 12; i++) {
int16_t new_angle = lerp(angles[i], new_angles[i] * dir[i], 0.3);
if (new_angle != angles[i]) {
angles[i] = new_angle;
updated = true;
}
}
if (updated) {
ESP_LOGI("MotionService", "New angles: %f %f %f %f %f %f %f %f %f %f %f %f", new_angles[0], new_angles[1], new_angles[2], new_angles[3], new_angles[4], new_angles[5], new_angles[6], new_angles[7], new_angles[8], new_angles[9], new_angles[10], new_angles[11]);
}
break;
}
case MOTION_STATE::WALK:
angles[1] += dir;
if (angles[1] >= 90) dir = -1;
@@ -118,12 +146,14 @@ class MotionService
EventSocket *_socket;
SecurityManager *_securityManager;
TaskManager *_taskManager;
Kinematics kinematics;
constexpr static int MotionInterval = 100;
int8_t input[7] = {0, 0, 0, 0, 0, 0, 0};
int16_t angles[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int16_t rest_angles[12] = {0, 90, -145, 0, 90, -145, 0, 90, -145, 0, 90, -145};
int16_t stand_angles[12] = {0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90};
MOTION_STATE motionState = MOTION_STATE::IDLE;
unsigned long _lastUpdate;
int dir = 2;
kinematics.ipynb
+99
View File
@@ -0,0 +1,99 @@
{
"cells": [
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"import sympy as sp\n",
"import numpy as np"
]
},
{
"cell_type": "code",
"execution_count": 17,
"metadata": {},
"outputs": [
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\phi \\right)} \\cos{\\left(\\psi \\right)} & - \\sin{\\left(\\psi \\right)} \\cos{\\left(\\phi \\right)} & \\sin{\\left(\\phi \\right)} & x\\\\\\sin{\\left(\\omega \\right)} \\sin{\\left(\\phi \\right)} \\cos{\\left(\\psi \\right)} + \\sin{\\left(\\psi \\right)} \\cos{\\left(\\omega \\right)} & - \\sin{\\left(\\omega \\right)} \\sin{\\left(\\phi \\right)} \\sin{\\left(\\psi \\right)} + \\cos{\\left(\\omega \\right)} \\cos{\\left(\\psi \\right)} & - \\sin{\\left(\\omega \\right)} \\cos{\\left(\\phi \\right)} & y\\\\\\sin{\\left(\\omega \\right)} \\sin{\\left(\\psi \\right)} - \\sin{\\left(\\phi \\right)} \\cos{\\left(\\omega \\right)} \\cos{\\left(\\psi \\right)} & \\sin{\\left(\\omega \\right)} \\cos{\\left(\\psi \\right)} + \\sin{\\left(\\phi \\right)} \\sin{\\left(\\psi \\right)} \\cos{\\left(\\omega \\right)} & \\cos{\\left(\\omega \\right)} \\cos{\\left(\\phi \\right)} & z\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[ cos(phi)*cos(psi), -sin(psi)*cos(phi), sin(phi), x],\n",
"[sin(omega)*sin(phi)*cos(psi) + sin(psi)*cos(omega), -sin(omega)*sin(phi)*sin(psi) + cos(omega)*cos(psi), -sin(omega)*cos(phi), y],\n",
"[sin(omega)*sin(psi) - sin(phi)*cos(omega)*cos(psi), sin(omega)*cos(psi) + sin(phi)*sin(psi)*cos(omega), cos(omega)*cos(phi), z],\n",
"[ 0, 0, 0, 1]])"
]
},
"execution_count": 17,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"omega = sp.symbols('omega')\n",
"psi = sp.symbols('psi')\n",
"phi = sp.symbols('phi')\n",
"x = sp.symbols('x')\n",
"y = sp.symbols('y')\n",
"z = sp.symbols('z')\n",
"\n",
"\n",
"rx = sp.Matrix([\n",
" [1, 0, 0, 0],\n",
" [0, sp.cos(omega), -sp.sin(omega), 0],\n",
" [0, sp.sin(omega), sp.cos(omega), 0],\n",
" [0, 0, 0, 1],\n",
"])\n",
"\n",
"ry = sp.Matrix([\n",
" [sp.cos(phi), 0, sp.sin(phi), 0, ],\n",
" [0, 1, 0, 0],\n",
" [-sp.sin(phi), 0, sp.cos(phi), 0],\n",
" [0, 0, 0, 1],\n",
"])\n",
"\n",
"rz = sp.Matrix([\n",
" [sp.cos(psi), -sp.sin(psi), 0, 0],\n",
" [sp.sin(psi), sp.cos(psi), 0, 0],\n",
" [0, 0, 1, 0],\n",
" [0, 0, 0, 1],\n",
"])\n",
"\n",
"t = sp.Matrix([\n",
" [0, 0, 0, x],\n",
" [0, 0, 0, y],\n",
" [0, 0, 0, z],\n",
" [0, 0, 0, 0],\n",
"])\n",
"\n",
"tm = t + rx * ry * rz\n",
"tm"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.11.5"
}
},
"nbformat": 4,
"nbformat_minor": 2
}