A lightweight web teleoperations interface and data dashboard for the RE-RASSOR project. https://rerassor.com/
Documentation, assembly, and notes found here: Drive link

Features:

• Network agnostic. The controller and rover can be on different wifi networks
  
• Sub 100ms latency between button click and stepper action
  
• Easy setup. Just flash the esp32, enter wifi credentials, name your rover, and you're done
  
• Real-time video feed and visualization of on-board telemetry
  

Setup:

1. Download and open roverclient.ino with Arduino IDE
   
2. Change the following variables to match your network, and choose a custom rover name and secret
   

const char* ssid = "yourssid";
const char *password = "yourpassword";
const char *url = "/?name=yournamehere&yoursecrethere";

3. Follow these instructions to add esp32 board to the IDE
   
4. Install the following libraries (latest version is fine) (needs updated to include MPU9250 lib)
   
   
5. Plug in the esp32, select esp32 dev module as the board, and select the corresponding com port
   
6. Upload the sketch
   assuming that the network you provided has internet, you should see the rover listed on rerassor.com
   

ONLY IF you are to host YOUR OWN server, follow these steps:

build
docker build --no-cache -t re-rassor-lightweight .

dev (run locally)
docker run -p 8080:8080 -p 443:443 -p 80:80 -e NODE_ENV=dev re-rassor-lightweight

ECS, if you don't know what this does, ignore it
docker run -p 8080:8080 -p 443:443 -p 80:80 -e SSL_KEY=<raw text key> SSL_CERT=<raw text cert> re-rassor-lightweight

EC2, if you don't know what this does, ignore it
docker run -p 8080:8080 -p 443:443 -p 80:80 -e SSL_KEYPATH=/etc/letsencrypt/live/rerassor.com/privkey.pem SSL_CERTPATH=/etc/letsencrypt/live/rerassor.com/fullchain.pem re-rassor-lightweight

TODO:

change type of message to "INFO" and pass in IMU, latency, current wheel speed, etc
implement camera feed into WSS stream
lower turning speed
CI/CD w Docker on AWS

Notes/Troubleshooting:

If Arduino IDE error about entering flash mode, unplug IMU connections. see (https://randomnerdtutorials.com/esp32-pinout-reference-gpios/). GPIO 2 connected to on-board LED, must be left floating or LOW to enter flashing mode.