Rune Harlyk
5.4 KiB
5.4 KiB
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_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.
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 | Easy to use, lightweight, cross-browser, general purpose 3D library. |
| Urdf-loader | Utilities for loading URDF files into THREE.js and a Web Component that loads and renders the model. |
| Xacro-parser | Javascript parser and loader for processing the ROS Xacro file format. |
| NippleJS | A vanilla virtual joystick for touch capable interfaces. |
| Uzip | Simple, tiny and fast ZIP library. |
| ChartJS | Simple and flexible charting library. |