mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
66 lines
2.7 KiB
Markdown
66 lines
2.7 KiB
Markdown
## esp32 firmware
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- hooked up to the roomba's UART on pins 16 and 17
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- pin 5 is connected to the roomba's BRC pin
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- pulse the BRC pin low for 1 second every minute to keep the roomba awake
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- connect to wifi
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- connect to the server
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- get a full frame of sensor group 100 from the roomba every 500ms
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- send it to the server over the sensor UDP stream
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- listen to the server's control UDP stream (per roomba) and do the following accordingly:
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- set wheel speeds
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- seek dock
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- enable OI
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- safe mode
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- full mode
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- play song
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- load song
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## esp32 -> server communication
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- one UDP stream to the esp32 for controlling the roomba
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- might look like this:
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- left wheel speed
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- right wheel speed
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- OI mode
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- seek dock?
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- blasts out at a constant rate from the server for each roomba
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- the esp32 will listen, and follow the latest command that it sees
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- one UDP stream from the esp32 to the server for sending sensor data frames and other telemetry
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- one full frame of sensor data per datagram
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- send raw sensor data, the server will decode it
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- add other telemetry from the esp32, like signal strength, etc.
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- maybe use this stream as a sign that the esp32 is still running healthily?
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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 esp32 firmware 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
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## closing notes
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- keep the user input path (web UI -> server -> roomba) as light and responsive as possible. responsiveness is key for this.
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- responsiveness is the name of the game. The future of this program is teleoperation over the internet, with a camera on each roomba. keyboard inputs from the user must be near instant.
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- on the esp32 firmware side of things, sensor data is second priority to having a responsive control system
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- but sensor data DOES have to exist. |