MultiRoombaRover/outline.md

esp32 firmware

• platform.io
• pull the roomba's BRC pin low (ground it) for 1 second every minute to keep it awake (pin 5)
• connect to wifi
  • disable wifi power saving
  • reconnect if needed
• connect to server
  • reconnect if needed
• hooked up to the roomba's UART on pins 16 and 17
• send raw roomba sensor data to the server, requesting ALL of the sensors from the roomba. data will be decoded on the server.
• listen to commands from the server for wheel motor speeds, aux. motor speeds, OI mode, seek dock, and song commands
• input from user to roomba MUST be prioritized. sensor data needs to be accurate, and constant, but is allowed to have blips where it slows down or whatever

esp32 -> server communication

• needs to be something stateless, that doesn't care if the wifi hiccups on the esp32 side, because it can and will
  • communication to and from the server needs to be "stream style"
• needs to be light and fast
• connection inconsistencies CANNOT create queued up events in either direction
• the server needs to know and track which roombas are connected at any given time

nodejs server

• KISS
• decode the sensor data from each roomba
• can support multiple roombas connected from the ground up
• keep it simple, worry about getting the esp32 firmware right.
  • but the server DOES have to exist for testing
• IS the web server, hosts an entire static folder for the web UI

server -> web UI communication

• socket.io
• don't do anything fancy with the socket.io setup
  • it works fine out of the box, we will optimize it later

the web UI

• KISS
• plain old html. no styling even. just bare minimum for testing
• what it needs to do:
  • allow user to select the roomba from a list
  • make the selected roomba drive with WASD
  • have buttons to set the OI mode, and tell the roomba to dock
  • show a plain list of the sensor data from the selected roomba

closing notes

• keep the user input path (web UI -> server -> roomba) as light and responsive as possible. responsiveness is key for this.