Rune Harlyk
76 lines
5.3 KiB
Markdown
76 lines
5.3 KiB
Markdown
# Software description
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The software make use of a range of different libraries to enhance the functionality.
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Up to date list can be seen in platformio.ini file.
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The libraries includes:
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- ArduinoJson
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- Adafruit SSD1306
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- Adafruit GFX Library
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- Adafruit BusIO
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- Adafruit PWM Servo Driver Library
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- Adafruit ADS1X15
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- Adafruit HMC5883 Unified
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- Adafruit Unified Sensor
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- I2Cdevlib-MPU6050
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- NewPing
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- SPI
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#### Structure
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The software utilizes a couple of FreeRTos task
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| Task | Description | Priority | Core
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| --- | --- | --- | ---
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| Idle0 task | Burns cpu time to track cpu usage for core 0 | 0 | 0
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| Idle1 task | Burns cpu time to track cpu usage for core 1 | 0 | 1
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| Spot service task | Handle synchronous services | 2 | 0
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| Camera streaming tasks | Handle streaming to a single client | 1 | -1
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#### Feature flags
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To dis-/enable the major feature defines are used. Define them in either features.ini or in platformio.ini's build_flags.
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| Feature | Description | Default
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| --- | --- | ---
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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 | 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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| FT_MOTION | Whether or not to use motion service | 1
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| FT_IMU | Whether or not to use imu (MPU6050) | 1
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| FT_MAG | Whether or not to use magnetometer (HMC5883) | 1
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| FT_BMP | Whether or not to use barometer (BMP085) | 1
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| FT_SERVO | Whether or not to use servo (PCA9685) | 1
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### 📲 Controller
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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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#### Development dependencies
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For the development dependencies I choose the following
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| Dependencies | Description |
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| ------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| 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. |
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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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#### Libraries
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For the app functionality I choose the following:
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| Dependencies | Description |
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| ---------------------------------------------------------- | ---------------------------------------------------------------------------------------------------- |
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| [Three](https://www.npmjs.com/package/three) | Easy to use, lightweight, cross-browser, general purpose 3D library. |
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| [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. |
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| [Xacro-parser](https://www.npmjs.com/package/xacro-parser) | Javascript parser and loader for processing the ROS Xacro file format. |
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| [NippleJS](https://www.npmjs.com/package/nipplejs) | A vanilla virtual joystick for touch capable interfaces. |
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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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