🪄 Updates readme to reflect new template
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Rune Harlyk
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<h4 align="center">A small quadruped robot, inspired by boston dynamic <a href="https://bostondynamics.com/products/spot/" target="_blank">Spot</a>.</h4>
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<!-- <p align="center">
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<a href="https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/frontend-tests.yml">
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<img src="https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/frontend-tests.yml/badge.svg" alt="Gitter">
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</a>
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<a href="https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/build-restriction.yml">
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<img src="https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/build-restriction.yml/badge.svg"></a>
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</p> -->
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<p align="center">
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<a href="#key-features">Key Features</a> •
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<a href="#overview">Overview</a> •
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@@ -36,22 +27,20 @@
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[](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/frontend-tests.yml)
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[](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/build-restriction.yml)
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</div>
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## Key Features
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* Live preview - Make changes, See changes
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<!-- * Instantly test and preview code in emulation -->
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* Real time data sync
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<!-- * Camera live stream, battery voltage, servo position, distance sensors and much more. -->
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<!-- * Full kinematic model -->
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* Camera live stream
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* Dual joystick controller
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* Dark/Light mode
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<!-- * Servo calibration tool -->
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* Full screen mode
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* Immersive, distraction free.
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* Self hosted, self included
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<!-- * Servo calibration tool -->
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<!-- * Full kinematic model -->
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## Overview
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@@ -139,18 +128,13 @@ To dis-/enable the major feature I use defines. Define them in either featurefla
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| FT_SECURITY | Whether or not to use login system | 0
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| FT_MQTT | Whether or not to use MQTT | 0
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| FT_SLEEP | Whether or not include sleep management | 0
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| FT_UPLOAD_FIRMWARE | Whether or not to use OAT | 1
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| FT_DOWNLOAD_FIRMWARE | Whether or not to use github for firmware updates | 1
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| FT_UPLOAD_FIRMWARE | Whether or not to use OAT | 0
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| FT_DOWNLOAD_FIRMWARE | Whether or not to use github for firmware updates | 0
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| FT_ANALYTICS | Whether or not to use analytics service | 1
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| TF_MDNS | Whether or not to use MDNS | 1
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| TF_DNS_SERVER | Whether or not to use DNS server | 1
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| TF_MPU | Whether or not to use MPU | 1
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| TF_POWER_BUTTON | Whether or not to use power button | 1
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| TF_USS | Whether or not to use ultra sonic sensors | 1
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### 📲Web application
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### 📲 Controller
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The web application is a simple Svelte app, which main focus is to calibrate and control the robot.
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The controller is a SvelteKit app, which main focus is to calibrate and control the robot.
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<!-- Write about the emulation, stream, controls and link to the space issues -->
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It is made to be included and hosted by the robot.
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Therefore there is placed a lot of thought behind the functionality and dependencies.
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@@ -165,8 +149,6 @@ For the development dependencies I choose the following
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| 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
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| Typescript | TypeScript's integration of static typing enhances code reliability and maintainability.
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| Tailwind CSS | Tailwind CSS accelerates web development with its utility-first approach, ensuring rapid styling and consistent design.
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<!-- | Vite single file plugin | This plugin inline all JS and CSS in the *index.html* file, which is necessary as SPIFFS max file length is 32 bytes. -->
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| Vite compression plugin | This plugin compresses the *index.html* file making the final footprint a lot smaller.
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#### Libraries
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@@ -181,26 +163,6 @@ For the app functionality I choose the following:
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| [Uzip](https://www.npmjs.com/package/uzip) | Simple, tiny and fast ZIP library.
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| [ChartJS](https://www.npmjs.com/package/chart.js) | Simple and flexible charting library.
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<!-- ### Space issues
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As the ESP32 has very limited storage for program and filesystem, it quickly became a challenge to fit the web app and program in the 4mb of flash.
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Just the robot models files were ≈8mb. So the first step was to minify the files.
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My first idea was just to zip the files and then unpack and store them on the browser side.
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This reduced the models footprint to ≈2mb. Great start, but still way to big to fit in flash.
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Next step was to make the actual model files smaller, by decimating them.
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Exterior model files where kept in higher resolution while the interior could be reduced more.
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This was the biggest change and made the final footprint of the models ≈550kb.
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A total reduction of ≈94% for the model files.
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But the problem was not solved yet. The final *index.html* file was ≈650kb.
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The obvious solution was again to compress it, this time by using gzip.
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This made the file size for the *index.html* 184kb. With all the optimization the data folder was only 756 KB. Awesome!
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The last step to fitting the web app on the ESP was to expand SPIFFS part of filesystem image.
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At this step I had to cut some corners to make it fit, mainly by disabling over-the-air update. But a last the filesystem image build and uploaded to the ESP! -->
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## Kinematics
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The kinematic for the robot is from this [kinematics paper](https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot)
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@@ -213,7 +175,7 @@ The kinematic for the robot is from this [kinematics paper](https://www.research
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git clone https://github.com/runeharlyk/SpotMicroESP32-Leika
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```
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1. Install dependencies
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1. Install dependencies with preferable package manager (npm, pnpm, yarn)
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```sh
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cd app
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@@ -223,6 +185,10 @@ The kinematic for the robot is from this [kinematics paper](https://www.research
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1. Configure device settings
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1. Update `factory_settings.ini` with relevant settings
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1. Upload filesystem image using platformIO
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1. Upload firmware using platformIO
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## Usage
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### Developing
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@@ -230,25 +196,14 @@ The kinematic for the robot is from this [kinematics paper](https://www.research
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1. Run the app
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```sh
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cd app
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pnpm run dev
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```
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### Building
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1. Build the app
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```sh
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pnpm run build
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```
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1. Upload Filesystem Image using platformIO
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## Future
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See the [open issues](https://github.com/runeharlyk/SpotMicroESP32-Leika/issues) for a full list of proposed features (and known issues).
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<!-- ## External Links and References -->
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## Credits
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This project takes great inspiration from the following resources:
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