Rune Harlyk
236 lines
8.7 KiB
Markdown
236 lines
8.7 KiB
Markdown
<h1 align="center">
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<br />
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<a href="https://github.com/runeharlyk/SpotMicroESP32-Leika">
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<img src="https://raw.githubusercontent.com/runeharlyk/SpotMicro-Leika/main/assets/logo.jpg" alt="Markdownify" width="200">
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</a>
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<br>
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Spot Micro - Leika
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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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## Status
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<div style="display:flex;gap:20px">
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[](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/frontend-tests.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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* Real time data sync
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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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* 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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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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#### Connection Diagram
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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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* Esp32SvelteKit
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* PsychicHttp
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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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* 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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#### 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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| FT_BATTERY | Whether or not to use battery | 0
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| FT_NTP | Whether or not to use time server | 1
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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 | 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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### 📲 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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| [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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## 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 with preferable package manager (npm, pnpm, yarn)
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```sh
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cd app
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pnpm install
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```
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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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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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## 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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## Credits
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This project takes great inspiration from the following resources:
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1. [Spot Micro Quadruped Project - mike4192](https://github.com/mike4192/spotMicro)
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1. [Kinematics](https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot)
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1. [ESP32SvelteKit template](https://github.com/theelims/ESP32-sveltekit)
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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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## 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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