havent started yet

.gitignore

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+create_2_Open_Interface_Spec.pdf
+create_2_Open_Interface_Spec.txt
+
+
+
+
+.node_modules
+.pio
+.vscode

README.md

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 # Multi Roomba Rover
 
 a remake of my RoombaRover project with a decentralized and embedded approach
+
+on each roomba:
+- an esp32
+  - a level shifter
+- a power supply
+- an openIPC camera
+  - USB wifi card
+  - microphone
+  - speaker
+- MAYBE a master relay which can be turned off programatically

notes.md

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+# notes and ideas
+
+## frontend
+
+each frontend module will have a JSON state update over socket.io
+each module will export a function to update it's state
+
+use these functions to update all modules on connect, from a UI init state event.
+this event will be sent all of the module data at once, in JSON
+
+split each JSON element to the UI element functions
+
+
+## esp-server comms
+
+the ESP will report to the server when it connects:
+
+rover's name
+enable / disable for each motor
+camera IP address
+battery info (for different battery behaviors):
+    full number
+    warn number
+    urgent number

platformio.ini

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+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200
+
+; Enable verbose FreeRTOS symbols in Arduino builds (optional but handy for demos)
+build_flags =
+    -DCORE_DEBUG_LEVEL=3

src/main.cpp

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+#include <Arduino.h>
+
+// Use two GPIOs with onboard-friendly defaults; adjust to match your dev kit.
+constexpr gpio_num_t LED1_PIN = GPIO_NUM_2;  // Often labeled "LED_BUILTIN".
+constexpr gpio_num_t LED2_PIN = GPIO_NUM_4;
+
+constexpr TickType_t LED1_DELAY = pdMS_TO_TICKS(250);  // 4 Hz blink.
+constexpr TickType_t LED2_DELAY = pdMS_TO_TICKS(700);  // ~1.4 Hz blink.
+
+// FreeRTOS tasks must have C linkage-compatible signatures.
+void ledTask(void *parameter) {
+  const gpio_num_t pin = static_cast<gpio_num_t>(reinterpret_cast<intptr_t>(parameter));
+  const TickType_t delay = (pin == LED1_PIN) ? LED1_DELAY : LED2_DELAY;
+
+  pinMode(pin, OUTPUT);
+
+  // Align the first toggle with system tick so the cadence stays consistent.
+  TickType_t nextWake = xTaskGetTickCount();
+
+  bool state = false;
+  while (true) {
+    digitalWrite(pin, state ? HIGH : LOW);
+    state = !state;
+
+    // vTaskDelayUntil keeps a steady period even if the loop body jitters.
+    vTaskDelayUntil(&nextWake, delay);
+  }
+}
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial && millis() < 3000) {
+    // Give USB CDC boards a moment to enumerate; safe to ignore for pure UART boards.
+    delay(10);
+  }
+  Serial.println("FreeRTOS dual LED blink demo starting up...");
+
+  // The Arduino core already starts the scheduler after setup() returns.
+  xTaskCreate(
+      ledTask,        // Task function.
+      "LED1",         // Label (shows up in diagnostics).
+      2048,           // Stack size in words.
+      reinterpret_cast<void *>(static_cast<intptr_t>(LED1_PIN)),
+      1,              // Priority.
+      nullptr);
+
+  xTaskCreate(
+      ledTask,
+      "LED2",
+      2048,
+      reinterpret_cast<void *>(static_cast<intptr_t>(LED2_PIN)),
+      1,
+      nullptr);
+}
+
+void loop() {
+  // Leave loop() empty; the FreeRTOS tasks do the work.
+  vTaskDelay(pdMS_TO_TICKS(1000));
+}