01 - Dev. Env. Setup

Requeriments:

• Completion of Lab 01

Learning outcome:

• Minimal working template for PlatformIO projects
• Making Static libraries

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Task 1 - System Identification

Given the following system:

Figure 1: Seesaw model.

Where:

• $w_1$ and $w_2$ are the angular velocities of the motors.
• $\alpha$ angle of the system.

Task 1.1: Identify which signals depicted in figure 1 of the system are the input and output of the system

Task 1.2: Which energy reservoirs can you find? What are the states of the system?

Task 1.3: Given this dynamic system model:

$$\ddot{\alpha} = \gamma u - k \cdot \cos(\alpha)$$

Comment and explain your rational on whether the system i:

• time varying / time invariant
• linear / non-linear
• causal / acausal
• memoryless / dynamic

Task 2 - PlatformIO Project Creation

Create a new project named assigment-01, with the following configuration parameters:

platform = espressif32
board = esp32dev
framework = arduino

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Task 3 - Making Network Manager

Task 3.1: Create a local network library with the name NetworkManager.

assigment-01/
└─ lib/
   └─ NetworkManager/

Task 3.2: Create a library interface that follow this design for intanciation.

#include <NetworkManager.h>

NetworkManager net;

Task 3.3: Ensure that your implementation sets a custom hostname for the ESP32. Reference material: ESP32 Setting a Custom Hostname.

Task 3.4: In the NetworkManager implementation a method called begin() with the following signature, that inicitalize the network.

void NetworkManager::begin()

In order to initialize the network:

1. Try to set the ESP32 in STA mode (Station Mode) to connect to the network SSID iotlab password 12345678
2. If STA mode fails, fallback into AP (Access Point mode) and Create a network using your robot hostname* as SSID and set any password with at least 8 characters (WAP2). Reference material: https://randomnerdtutorials.com/esp32-useful-wi-fi-functions-arduino/

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Task 4 - Making OTA Manager

Task 4.1: Setup OTA, under the folder lib create a local library called OTAManager

Task 4.2: Create a the library in a way that allow you to import like #include <OTAManager.h> and instancie as OTAManager ota;

Task 4.3: Witn in the OTAManager implementation a method called begin() with the following signature that inicitalize the OTAManager.

void OTAManager::begin()

Note: you can use any OTA library, for simplicity ArduinoOTA is a good starting point. Example code: https://github.com/espressif/arduino-esp32/blob/master/libraries/ArduinoOTA/examples/BasicOTA/BasicOTA.ino

Resume

The final working code should look like. Your are free (and encorage) to improve the current definitions and implementation.

#include <Arduino.h>
#include <NetworkManager.h>
#include <OTAManager.h>

NetworkManager net;
OTAManager ota;

void setup()
{

  Serial.begin(115200);
  delay(200);

  net.begin();
  ota.begin();
}

void loop() {
  ota.handle();
  delay(100);
}