Overview

This repository contains the firmware for a custom-built automated electric armchair.
Detailed project information and documentation is available on the website:

• V1: Electric Armchair V1
• V2: Electric Armchair V2

Note: In the current version V2.2, only the esp-project in the board_single/ folder and the custom libraries in common/ are used.
The projects in the folders board_control/ and board_motorctl/ are no longer compatible and are legacy from V2.1.

Photo of the built frame that carries the armchair

Current Features

• Control Modes:
  • Joystick: Control movement via hardware joystick mounted on the right armrest
  • HTTP: Control movement via virtual joystick on a web interface
  • Massage: Armchair shaking depending on stick position
  • Adjust: Control leg and backrest position via joystick
  • Auto: Execute stored driving commands sequentially
• Advanced Motor Control:
  • Deceleration limit
  • Acceleration limit
  • Current limit
  • Braking
  • Compatible with different motor drivers:
  • 3 pins: A, B, PWM - e.g. various common H-Bridges
  • 1 pin: UART/RS232 - e.g. Sabertooth
• Input/Sensors:
  • Speed Measurement: Measures speed and direction of each tire individually using custom built encoders
  • Current Measurement: Monitors current of each motor
  • Battery Voltage: Measures battery voltage and calculates percentage according to discharge curve
  • Analog Joystick:
  • Evaluate two analog signals to get coordinates, radius and angle
  • Calibration wizard/sequence
  • Calibration stored persistently in nvs
• Fan Control: Cooling fan for motor driver are activated when needed only
• Buzzer: Provides acoustic feedback when switching modes or interacting with menu
• OLED-Display + Rotary-encoder:
  • Various status screens showing battery status, speed, RPM, motor current, mode, power, duty cycle, stick data
  • Menu for setting various options using encoder
  • Changed settings are stored persistently in NVS flash
  • Menu for selecting the control mode
• UART Communication between 2 Boards (V2.1)
• Electric Chair Adjustment: Control 4 Relays powering motors that adjust the chair rest positions
• Wi-Fi:
  • Hosts wireless network
  • Web server with webroot in SPIFFS
  • HTTP API for controlling the chair (remote control)
• React web-app: Virtual joystick sending data to http-API (placed in SPIFFS)

Planned Features

Hardware

• More Sensors:
  • Accelerometer
  • Lidar sensor / collision detection
  • GPS receiver
  • Temperature sensors
• Lights
• Camera

  Algorithms

• Anti-Slip Regulation
• Self-Driving Algorithm

  UI

• Improved Web Interface
  • Settings
  • Chair adjustment
• Simple App

Hardware Setup / Electrical

Control-PCB

The firmware is designed for an ESP32 microcontroller integrated into a custom PCB developed here: Project Work 2020

Connection Plan

A detailed diagram illustrating all components and wiring can be found in the file connection-plan.drawio.pdf.
For more details refer to the documentation on the website.

Chair-Adjust Relay-Board

A custom pcb with relays and protection for controlling the 2 motors that adjust the rest positions of the armchair was created in this repository as well: Date: 2024.09.08
Folder: hardware/chairAdjust-relayBoard
Schematic: hardware/chairAdjust-relayBoard/export/schematic.pdf

Installation

Install ESP-IDF

For this project ESP-IDF v4.4.4 is required

#download esp-idf
yay -S esp-idf #alternatively clone the esp-idf repository from github
#run installation script in installed folder
/opt/esp-idf/install.sh

Clone Repository

git clone git@github.com:Jonny999999/armchair_fw

Install Node Packages

Navigate to the react-app directory and install required packages using npm:

cd react-app
npm install

Building the Project

React-webapp

When flashing to the ESP32, the files in the react-app/build/ folder are written to a SPIFFS partition.
These files are then served via HTTP in the Wi-Fi network "armchair" created by the ESP32.

Initially, or when changing the React code, you need to manually build the React app:

cd react-app
#compile
npm run build
#remove unwanted license file (filename too long for spiffs)
rm build/static/js/main.8f9aec76.js.LICENSE.txt

Note: For testing the app locally, use npm start

Firmware

Environment Setup

source /opt/esp-idf/export.sh

Run once per terminal

Compilation

cd board_single
idf.py build

Upload

• Connect FTDI programmer to board (GND to GND, TX to RX, RX to TX)
• Press RESET and BOOT button
• Release RESET button (keep pressing boot)
• Release boot button
• Run flash command:

  idf.py flash

Monitor

To view log output for debugging, follow the same steps as in the Upload section, but run:

idf.py monitor

Usage / User Interface

Quickstart

• Browse / select any mode
  • [long press] opens menu for selecting the desired mode (JOYSTICK for driving)
• Driving
  • [3x click] enters JOYSTICK mode
• Rest position
  • [rotate] adjusts the leg rest position
  • [press + rotate] at the same time: adjusts the back rest position
  • alternatively enter ADJUST mode and control rests via joystick

Encoder Functions

• When not in MENU mode, rotating the encoder has the following functions:

Note: first tick is ignored -> quickly rotate 2 ticks at first

• When not in MENU mode, clicking the encoder has the following functions:

• When in MENU_SETTINGS mode (5x click), the encoder controls the settings menu: (similar in MENU_MODE_SELECT)

HTTP Mode

Control the armchair via a virtual joystick on the web interface.

Usage:

• Switch to HTTP mode (4 button presses or via mode-select menu).
• Connect to WiFi armchair, no password.
• Access http://192.168.4.1 (note: http NOT https, some browsers automatically add https!).