mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
58 lines
2.1 KiB
Markdown
58 lines
2.1 KiB
Markdown
## multi roomba rover
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a website where people can control multiple irobot create 2 robots in real time 100% responsively
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with a raspberry pi zero 2 W on each roomba, along with a raspberry pi camera
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a central nodejs control server will tell the raspberry pis what to do with the roomba
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## the pi side (roomba side)
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- pi's onboard UART is hooked up to the roomba's serial port
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- another GPIO pin connected to the roomba's BRC pin
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- pull it low for one second every minute to keep the roomba awake
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- streams the rpi camera over webRTC with mediamtx
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- streams roomba sensor group 100 to the server
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- sensor streaming is required and important, but is allowed to falter sometimes
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- listens for roomba commands from the server
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- commands NEED to happen
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- roomba control program needs to be simple, lightweight, and 100% responsive
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## pi -> server communication
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- stateless
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- streaming based
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- on connection, the pi will send the following info:
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- rover's name
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- motor enable / disable
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- vacuum
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- main brush
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- side brush
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- battery full number
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- battery warning number
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- battery urgent number
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## nodejs server
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- KISS
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- decode the sensor data from each roomba
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- can support multiple roombas connected from the ground up
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- keep it simple, worry about getting the pi comms right.
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- but the server DOES have to exist for testing
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- IS the web server, hosts an entire static folder for the web UI
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## server -> web UI communication
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- socket.io
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- don't do anything fancy with the socket.io setup
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- it works fine out of the box, we will optimize it later
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## the web UI
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- KISS
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- plain old html. no styling even. just bare minimum for testing
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- what it needs to do:
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- allow user to select the roomba from a list
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- make the selected roomba drive with WASD
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- have buttons to set the OI mode, and tell the roomba to dock
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- show a plain list of the sensor data from the selected roomba
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### general javascript programming guidelines (applies to the web UI too)
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- everything ES6
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- one entrypoint file in the web UI
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- everything modular
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- everything easy to read, understand, and work on
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- comment where you think is best to describe whats going on |