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docs/software_description.md

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+# Software description
+
+
+The software make use of a range of different libraries to enhance the functionality.
+Up to date list can be seen in platformio.ini file.
+The libraries includes:
+
+* Esp32SvelteKit
+* PsychicHttp
+* ArduinoJson
+* Adafruit SSD1306
+* Adafruit GFX Library
+* Adafruit BusIO
+* Adafruit PWM Servo Driver Library
+* Adafruit ADS1X15
+* Adafruit HMC5883 Unified
+* Adafruit Unified Sensor
+* I2Cdevlib-MPU6050
+* NewPing
+* 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 | 0 | 0
+| Idle1 task | Burns cpu time to track cpu usage for core 1 | 0 | 1
+| Spot service task | Handle synchronous services | 2 | 0
+| Camera streaming tasks | Handle streaming to a single client | 1 | -1
+
+#### Feature flags
+
+To dis-/enable the major feature defines are used. Define them in either features.ini or in platformio.ini's build_flags.
+| Feature | Description | Default
+| --- | --- | ---
+| 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_SLEEP | Whether or not include sleep management | 0
+| FT_UPLOAD_FIRMWARE | Whether or not to use OAT | 0
+| FT_DOWNLOAD_FIRMWARE | Whether or not to use github for firmware updates | 0
+| FT_ANALYTICS | Whether or not to use analytics service | 1
+| FT_MOTION | Whether or not to use motion service | 1
+| FT_IMU | Whether or not to use imu (MPU6050) | 1
+| FT_MAG | Whether or not to use magnetometer (HMC5883) | 1
+| FT_BMP | Whether or not to use barometer (BMP085) | 1
+| FT_SERVO | Whether or not to use servo (PCA9685) | 1
+
+### 📲 Controller
+
+The controller is a SvelteKit app, which main focus is to calibrate and control the robot.
+<!-- Write about the emulation, stream, controls and link to the space issues -->
+It is made to be included and hosted by the robot.
+Therefore there is placed a lot of thought behind the functionality and dependencies.
+
+#### Development dependencies
+
+For the development dependencies I choose the following
+
+| Dependencies | Description
+| --- | ---
+| SvelteKit | 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.
+
+#### Libraries
+
+For the app functionality I choose the following:
+
+| Dependencies | Description
+| --- | ---
+| [Three](https://www.npmjs.com/package/three) | Easy to use, lightweight, cross-browser, general purpose 3D library.
+| [Urdf-loader](https://www.npmjs.com/package/urdf-loader) | Utilities for loading URDF files into THREE.js and a Web Component that loads and renders the model.
+| [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.