Luke Arm

human emulating robotic hand

Table of Contents

• About the Project
  • Tech Stack
  • File Structure
• Getting Started
  • Prerequisites
  • Installation
• Usage
• Results and Demo
• Future Work
• Troubleshooting
• Contributors
• Acknowledgements and Resources
• License

About The Project

• Aim of the project is designing a cost effective arm housing 5 servos controlled by one slave esp-32 taking commands from a remote esp-32 by establishing wifi communication between the two,essentially one acting as a server and the other as a client.The user will have to relay finger flex data to the arm and control the servos using client esp accordingly.

• Communication protocol used is ESP-NOW as

  • It overcomes the drawbacks of traditonal wifi connection.
  • The pairing between devices is needed prior to their communication. After the pairing is done, the connection is secure and peer-to-peer.
  • ESP NOW does not require a router for the connection,Thus this project can be used anywhere,at any remote places.
  • If suddenly one of the boards loses power or resets, when it restarts, it will automatically connect to its peers.

To read more about the project refer this documentation

Tech Stack

• FreeRTOS
• ESP-IDF

File Structure

 .
├── Components              # Contains files of specific library of functions or Hardware used
│    ├──esp_now             # Contains the code to setup connection using ESP-NOW. 
│    ├──CMakeLists.txt      # To include this component in a esp-idf 
├── docs                    # Documentation files 
│   ├── report.pdf          # Project report
│   └── results             # Folder containing the video, gifs of the result
├── main                    # Source files of project
│   ├──main.c               # Main Source code.
│   ├──kconfig.projbuild    # Shows the menu of project configuration
│   ├──CMakeLists.txt       # To include source code files in esp-idf.
├── CmakeLists.txt          # To include components and main folder while executing
├── LICENSE
└── README.md 

Getting Started

Prerequisites

• ESP-IDF v4.0 and above

  You can visit the ESP-IDF Programmming Guide for the installation steps.

Installation

clone the repo

https://github.com/K-dhokey/luke-arm.git

Usage

Configuration

idf.py menuconfig

• Keep default configuration

Build

idf.py build

Flash and Monitor

• Connect two esp32 through ports and run the following command on two seprate terminals.
• The terminals will act as user interface.

idf.py -p /dev/ttyUSB0 flash monitor

idf.py -p /dev/ttyUSB1 flash monitor

Code

• The input of finger flex data is taken from the user connected to master esp32.
• This data is sent through espnow and is sent to other slave esp32 board.
• the slave esp32 controls the servos based on the data sent from master esp32.
• When the data is received,the servos pull the fingers leading to hand movements.

Results and Demo

• Setup
• Gif

Contributors

• Kamakshi Dhokey
• Vaidic Gupta

Acknowledgements and Resources

• SRA VJTI Eklavya 2020
• Special thanks Om Sheladia , Rishikesh Donadkar , Moteen Shah
• Refered FreeRTOS for FreeRTOS API.
• Refered ESP_NOW for ESP-NOW API.

License

Describe your License for your project.