Darkages/SpotMicroESP32-Leika
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Updates readme to reflect template

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This commit is contained in:
Rune Harlyk
2024-04-30 12:30:00 +02:00
committed by Rune Harlyk
parent c8e972f72d
commit 16481b4054
2 changed files with 34 additions and 41 deletions
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esp32/features.ini
+5
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@@ -8,3 +8,8 @@ build_flags =
-D FT_UPLOAD_FIRMWARE=1
-D FT_DOWNLOAD_FIRMWARE=1
-D FT_ANALYTICS=1
-D TF_MDNS=1
-D TF_DNS_SERVER=1
-D TF_MPU=1
-D TF_POWER_BUTTON=1
-D TF_USS=1
readme.md
+29 -41
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@@ -42,13 +42,13 @@
## Key Features
* Live preview - Make changes, See changes
* Instantly test and preview code in emulation
<!-- * Instantly test and preview code in emulation -->
* Live stream
* Camera livestream, battery voltage, servo position, distance sensors and much more.
* Full kinematic model
<!-- * Full kinematic model -->
* Dual joystick controller
* Dark/Light mode
* Servo calibration tool
<!-- * Servo calibration tool -->
* Full screen mode
* Immersive, distraction free.
* Self hosted, self included
@@ -106,7 +106,8 @@ The software make use of a range of different libraries to enhance the functiona
Up to date list can be seen in platformio.ini file.
The libraries includes:
* AsyncWebServer
* Esp32SvelteKit
* PsychicHttp
* ArduinoJson
* Adafruit SSD1306
* Adafruit GFX Library
@@ -117,31 +118,36 @@ The libraries includes:
* Adafruit Unified Sensor
* UrlEncode
* MPU6050 light
* SPI
#### Structure
The software utilizes a couple of FreeRTos task
| Task | Description | Priority | Core
| --- | --- | --- | ---
| Idle0 task | Burns cpu time to track cpu usage for core 0 | 1 | 0
| Idle1 task | Burns cpu time to track cpu usage for core 1 | 1 | 1
| JSON writer task | Write serialized JSON objects to SPIFFS at request, with some delay | 2 | 0
| Movement task | Handles movement, updating gait and servos | 3 | 0
| Network task | Handles connection either as STA or AP | 5 | 1
| Idle0 task | Burns cpu time to track cpu usage for core 0 | 0 | 0
| Idle1 task | Burns cpu time to track cpu usage for core 1 | 0 | 1
| Analytics service task | Periodically sends analytics data | 1 | 0
| Spot service task | Handle synchronous services | 2 | 0
#### Feature flags
To dis-/enable the major feature I use defines. Define them in either featureflags.h or in platformio.ini's build_flags.
| Feature | Description | Default
| --- | --- | ---
| USE_WIFI | Whether or not to use wifi | 1
| WAIT_FOR_WIFI | Whether or not the device should wait for a connection or restart | 0
| USE_WEBSERVER | Whether or not to use async webserver | 1
| USE_MDNS | Whether or not to use MDNS | 1
| USE_DNS_SERVER | Whether or not to use DNS server | 0
| USE_MPU | Whether or not to use MPU | 1
| USE_POWER_BUTTON | Whether or not to use power button | 1
| USE_USS | Whether or not to use ultra sonic sensors | 1
| FT_BATTERY | Whether or not to use battery | 0
| FT_NTP | Whether or not to use time server | 1
| FT_SECURITY | Whether or not to use login system | 0
| FT_MQTT | Whether or not to use MQTT | 0
| FT_SLEEP | Whether or not include sleep management | 0
| FT_UPLOAD_FIRMWARE | Whether or not to use OAT | 1
| FT_DOWNLOAD_FIRMWARE | Whether or not to use github for firmware updates | 1
| FT_ANALYTICS | Whether or not to use analytics service | 1
| TF_MDNS | Whether or not to use MDNS | 1
| TF_DNS_SERVER | Whether or not to use DNS server | 1
| TF_MPU | Whether or not to use MPU | 1
| TF_POWER_BUTTON | Whether or not to use power button | 1
| TF_USS | Whether or not to use ultra sonic sensors | 1
### 📲Web application
@@ -156,7 +162,7 @@ For the development dependencies I choose the following
| Dependencies | Description
| --- | ---
| Svelte | Svelte is a compiled JS framework that has a very small footprint. Furthermore it make the development process fast and enjoyable.
| Svelte | SvelteKit is an application framework built on top of Svelte, enhancing it with features like routing, server-side rendering, and static site generation. It streamlines the development process by integrating server-side capabilities with Svelte's client-side benefits. Furthermore it make the development process fast and enjoyable.
| Vite | Vite is a frontend tool that is used for building fast and optimized web applications. Is serves code local during development and bundles assets for production
| Typescript | TypeScript's integration of static typing enhances code reliability and maintainability.
| Tailwind CSS | Tailwind CSS accelerates web development with its utility-first approach, ensuring rapid styling and consistent design.
@@ -174,6 +180,7 @@ For the app functionality I choose the following:
| [Xacro-parser](https://www.npmjs.com/package/xacro-parser) | Javascript parser and loader for processing the ROS Xacro file format.
| [NippleJS](https://www.npmjs.com/package/nipplejs) | A vanilla virtual joystick for touch capable interfaces.
| [Uzip](https://www.npmjs.com/package/uzip) | Simple, tiny and fast ZIP library.
| [ChartJS](https://www.npmjs.com/package/chart.js) | Simple and flexible charting library.
### Space issues
@@ -211,13 +218,11 @@ The kinematic for the robot is from this [kinematics paper](https://www.research
```sh
cd app
npm install
pnpm install
```
1. Configure device settings
1. Make a copy of *include/secrets.example.h* in the same folder
2. Rename the copy to *secrets.h*
3. Configure relevant settings
1. Update `factory_settings.ini` with relevant settings
## Usage
@@ -241,23 +246,6 @@ The kinematic for the robot is from this [kinematics paper](https://www.research
## Future
* [ ] Error handling. If something fails flag it, so everything knows is not working.
* [ ] Host AP with captive portal if initial wifi connection fails or power button is held.
* [ ] Websocket statistics
* [ ] Websocket auto reconnect
* [ ] Iterate to position
* [ ] Walking gait
* [ ] Different scene environments (Playground, forest, dessert etc)
* [ ] Group gridhelper, ground and environment items so they can be moved together
* [ ] Clamp, lerping of servo motors to a max servo speed (deg/s)
* [ ] Gait selection (w/ auto option based on speed)
* [ ] Interactive notebook for learning and playing with the kinematic equations, with extra visuals (full grid system)
* [ ] Disable servo command
* [ ] Show arrow forces on robot (accelerometer and center of gravity)
* [ ] Plane polygon for contact points
* [ ] Semi transparent boxes for leg workspace
* [ ] Options button
See the [open issues](https://github.com/runeharlyk/SpotMicroESP32-Leika/issues) for a full list of proposed features (and known issues).
<!-- ## External Links and References -->
@@ -266,12 +254,12 @@ See the [open issues](https://github.com/runeharlyk/SpotMicroESP32-Leika/issues)
This project takes great inspiration from the following resources:
1. [Kinematics](https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot)
1. [Spot Micro Quadruped Project - mike4192](https://github.com/mike4192/spotMicro)
1. [Kinematics](https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot)
1. [ESP32SvelteKit template](https://github.com/theelims/ESP32-sveltekit)
1. [SpotMicroAi](https://gitlab.com/public-open-source/spotmicroai)
1. [Spot Micro - Leika](https://github.com/runeharlyk/SpotMicro-Leika/tree/main)
1. [NightDriverStrip](https://github.com/PlummersSoftwareLLC/NightDriverStrip)
1. [ESP32-rapid-development-template](https://github.com/runeharlyk/ESP32-rapid-development-template)
## Support