Rune Daugaard Harlyk
287 lines
12 KiB
Markdown
287 lines
12 KiB
Markdown
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<h1 align="center">
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<br>
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Spot Micro - Leika
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<br>
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</h1>
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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="#key-features">Key Features</a> •
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<a href="#overview">Overview</a> •
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<a href="#getting-started">Getting started</a> •
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<a href="#credits">Credits</a> •
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<a href="#external-links-and-references">Related</a> •
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<a href="#license">License</a>
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</p>
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<!-- GIF
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 -->
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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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* Live stream
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* Camera livestream, battery voltage, servo position, distance sensors and much more.
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* Full kinematic model
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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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## Overview
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This repository contains the complete source code for a Spot Micro quadruped robot.
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Execution of the software takes place on a ESP32 cam, which runs various number of FreeRTos task for seamless robotic operations.
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By focusing on practicality and simplicity in both hardware and software, it offer an accessible platform for learning, experimentation, and modest real-world applications.
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The repo is based the following template: [ESP32-rapid-development-template](https://github.com/runeharlyk/ESP32-rapid-development-template)
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### Electronics
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* ESP32 cam - Brain
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* OV2640 160° - Camera
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* PCA9685 - Servo board
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* 12x 20kg(or higher) servo motors
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* MPU6050 - Inertial measurement unit
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* GY-271 - Magnetometer
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* SZBK07 - 20A DC-DC Buck Converter
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* LM2596 or XL4015 - DC-DC Stepdown Module
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* 2x HC-SR04 - Ultrasonic Distance Sensor
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* 0.96" SD1306 - OLED diplay
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* ACS712 - Current sensor
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* ADS1115 - 16 bit analog to digital converter
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* Power button w/ led
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* 4x 18650 Li-ion battery in 2P2S configuration
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* Couple of resistors (10K, 47.7k, 33K)
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* 4x Servo extension cables
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### Body
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The robots is 3D printed and is a combination of different Spot Micro designs, with some minor modification on top.
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The original design is developed by KDY0523.
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* [robjk reinforced shoulder remix](https://www.thingiverse.com/thing:4937631)
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* [Kooba SpotMicroESP32 remix](https://www.thingiverse.com/thing:4559827)
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* [KDY0532 original design](https://www.thingiverse.com/thing:3445283)
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The 3D prints is assembled with some additional component:
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* 84x M2x8 screws + M2 nuts
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* 92x M3x8 screws + M3 nuts
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* 64x M3x20 screws + M3 nuts
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* 12x 625ZZ ball bearings
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### Software
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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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* AsyncWebServer
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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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* UrlEncode
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* MPU6050 light
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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 | 1 | 0 |
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| Idle1 task | Burns cpu time to track cpu usage for core 1 | 1 | 1 |
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| JSON writer task | Write serialized JSON objects to SPIFFS at request, with some delay | 2 | 0 |
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| Movement task | Handles movement, updating gait and servos | 3 | 0 |
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| Network task | Handles connection either as STA or AP | 5 | 1 |
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#### Feature flags
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To dis-/enable the major feature I use defines. Define them in either featureflags.h or in platformio.ini's build_flags.
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| Feature | Description | Default |
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| --- | --- | --- |
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| USE_WIFI | Whether or not to use wifi | 1 |
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| WAIT_FOR_WIFI | Whether or not the device should wait for a connection or restart | 0 |
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| USE_WEBSERVER | Whether or not to use async webserver | 1 |
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| USE_MDNS | Whether or not to use MDNS | 1 |
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| USE_DNS_SERVER | Whether or not to use DNS server | 0 |
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| USE_MPU | Whether or not to use MPU | 1 |
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| USE_POWER_BUTTON | Whether or not to use power button | 1 |
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| USE_USS | Whether or not to use ultra sonic sensors | 1 |
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### 📲Web application
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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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<!-- 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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| Svelte | Svelte is a compiled JS framework that has a very small footprint. 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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| 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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For the app functionality I choose the following:
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| Dependencies | Description |
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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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### 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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## Getting started
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1. Clone and open the new project
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```sh
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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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```sh
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cd app
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npm install
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```
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1. Configure device settings
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1. Make a copy of *include/secrets.example.h* in the same folder
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2. Rename the copy to *secrets.h*
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3. Configure relevant settings
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## Usage
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### Developing
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1. Run the app
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```sh
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npm 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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npm 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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* [ ] Error handling. If something fails flag it, so everything knows is not working.
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* [ ] Host AP with captive portal if initial wifi connection fails or power button is held.
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* [ ] Websocket statistics
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* [ ] Websocket auto reconnect
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* [ ] Iterate to position
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* [ ] Walking gait
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* [ ] Different scene environments (Playground, forest, dessert etc)
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* [ ] Group gridhelper, ground and environment items so they can be moved together
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* [ ] Clamp, lerping of servo motors to a max servo speed (deg/s)
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* [ ] Gait selection (w/ auto option based on speed)
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* [ ] Interactive notebook for learning and playing with the kinematic equations, with extra visuals (full grid system)
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* [ ] Disable servo command
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* [ ] Show arrow forces on robot (accelerometer and center of gravity)
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* [ ] Plane polygon for contact points
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* [ ] Semi transparent boxes for leg workspace
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* [ ] Options button
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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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1. [Kinematics](https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot)
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1. [Spot Micro Quadruped Project - mike4192](https://github.com/mike4192/spotMicro)
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1. [SpotMicroAi](https://gitlab.com/public-open-source/spotmicroai)
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1. [Spot Micro - Leika](https://github.com/runeharlyk/SpotMicro-Leika/tree/main)
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1. [NightDriverStrip](https://github.com/PlummersSoftwareLLC/NightDriverStrip)
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1. [ESP32-rapid-development-template](https://github.com/runeharlyk/ESP32-rapid-development-template)
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## Support
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<a href="https://bmc.link/runeharlyk" target="_blank"><img src="https://www.buymeacoffee.com/assets/img/custom_images/purple_img.png" alt="Buy Me A Coffee" style="height: 41px !important;width: 174px !important;box-shadow: 0px 3px 2px 0px rgba(190, 190, 190, 0.5) !important;-webkit-box-shadow: 0px 3px 2px 0px rgba(190, 190, 190, 0.5) !important;" ></a>
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## You may also like...
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* [Spot Micro Quadruped Project - mike4192](https://github.com/mike4192/spotMicro) - Great ROS based project
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* [SpotMicroAi](https://gitlab.com/public-open-source/spotmicroai) - Group repository with simulations and runtimes
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## License
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[MIT](https://github.com/runeharlyk/SpotMicroESP32-Leika/blob/master/LICENSE.md)
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---
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> [runeharlyk.dk](https://runeharlyk.dk) ·
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> GitHub [@runeharlyk](https://github.com/runeharlyk) ·
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> LinkedIn [@Rune Harlyk](https://www.linkedin.com/in/rune-harlyk/)
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