Idea.txt

Test 
									ROBOT PROJECT:  SELF-BALANCE-ROBOT SBR

http://roboticssamy.blogspot.com/
https://www.youtube.com/watch?v=D7hvI_Tb0o4
https://github.com/elkayem/ZippyTheBalancingRobot

- Raspberry PI 3 (NodeJs , QT c++, Python comm websockets, PWA): WEB INTERFACES - MQTT - OPC UA - MODBUS TCP - Opencv (Raspi Cam v2) - ML Tensor Flow - Path planning
- Motion Board (c++): ESP32 - Odometry - PID Motor - Servos
- Sensor Board (c++): ESP32 - IMU, encoders, Fusion, kalman
- Flutter      (Dart): Phone App, Text Comnads, chatbot

		- ESP32: 
				- OTA
				- DNS
				
		- Raspberry
				- DNS
				- AP
				- Merge AP - Client network
				- Change Wifi credentials through code 
			
			 
		
- Consider program all in Docker
	https://www.tensorflow.org/install

CAN BUS
	http://www.iotsharing.com/2017/09/how-to-use-arduino-esp32-can-interface.html
	https://harrisonsand.com/can-on-the-raspberry-pi/
	https://github.com/collin80/esp32_can/blob/master/examples/CANTestESP32_Both/CANTestESP32_Both.ino


3d printer 
	https://fablab.fau.de/en/

SOCKETS
	https://www.bogotobogo.com/cplusplus/sockets_server_client_QT.php
	https://www.bogotobogo.com/Qt/Qt5_Asynchronous_QTcpServer_QThreadPool.php
	https://gist.github.com/tedmiston/5935757
	https://techtutorialsx.com/2017/11/01/esp32-arduino-websocket-client/
	
QT Threads Concurrent
	https://www.youtube.com/watch?v=tvpC8UrPpZ4


NodeJs Debbug
	https://www.youtube.com/watch?v=Xb_0awoShR8
	https://www.youtube.com/watch?v=2oFKNL7vYV8

HighChartsJs
	https://code.highcharts.com/highcharts.src.js

IMU - BNO080
	https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library

Materials:

- Raspberry PI
	https://www.reichelt.de/raspberry-pi-3-b-4x-1-4-ghz-1-gb-ram-wlan-bt-raspberry-pi-3b-p217696.html?utm_source=display&utm_medium=rsp-foundation&src=raspberrypi&&r=1#

- SD
	https://www.amazon.de/SanDisk-32-Speicherkarte-Zertifiziert-General%C3%BCberholt-Schwarz/dp/B07BSGHNNK/ref=pd_sbs_147_4/258-2714088-2251530?_encoding=UTF8&pd_rd_i=B07BSGHNNK&pd_rd_r=3dc0987e-702a-11e9-9a96-d95f0a414c28&pd_rd_w=trzHH&pd_rd_wg=HdUDH&pf_rd_p=74d946ea-18de-4443-bed6-d8837f922070&pf_rd_r=HWSJRNTZJRPKBPFR6XSA&psc=1&refRID=HWSJRNTZJRPKBPFR6XSA

- Camera
	https://www.amazon.de/Raspberry-Pi-V2-1-1080P-Kamera-Modul/dp/B01ER2SKFS/ref=pd_bxgy_147_img_2/258-2714088-2251530?_encoding=UTF8&pd_rd_i=B01ER2SKFS&pd_rd_r=9f2c9422-65dc-11e9-b2c0-9760af0625ea&pd_rd_w=sYiOj&pd_rd_wg=7ws2p&pf_rd_p=449f5fd6-8f81-46b7-aa57-ca96572671a1&pf_rd_r=ZYCNJV8JSEQ3P2YRB93T&psc=1&refRID=ZYCNJV8JSEQ3P2YRB93T

- Motor
	https://www.robotshop.com/de/en/pololu-12v-301-gear-motor-64-cpr-encoder.html#productsReviewBoxTitle
	https://www.robotshop.com/de/en/pololu-12v-501-metal-gear-motor-w--64-cpr-encoder.html#Specifications
	
- Bracket
	https://www.robotshop.com/de/en/pololu-37d-mm-metal-gearmotor-bracket.html

- Wheel
	https://www.robotshop.com/de/en/dfrobot-rubber-wheel-pair-blue.html
	
- Wheel Hub
	https://www.robotshop.com/de/en/lynxmotion-mounting-hub-12.html

- Driver
	https://www.robotshop.com/de/en/cytron-10a-5-30v-dual-channel-dc-motor-driver.html
	
- Battery
	https://www.robotshop.com/de/en/hyperion-g5-50c-4s-5000mah-lipo-battery.html
	
- Battery charger
	https://www.robotshop.com/de/en/h450ac-lipo-life-nimh-battery-charger-50w-eu.html
	
- Battery connector
	https://www.robotshop.com/de/en/xt90-connector-pair.html
	
- Regulator 5V
	https://www.robotshop.com/de/en/5v-3a-step-down-voltage-regulator.html
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	
	=========================================================== SOCKET =================================================================
	
	
		/*
		In the node.js intro tutorial (http://nodejs.org/), they show a basic tcp 
		server, but for some reason omit a client connecting to it.  I added an 
		example at the bottom.
		Save the following server in example.js:
		*/

		var net = require('net');

		/*
		var server = net.createServer(function(socket) {
			socket.write('Echo server\r\n');
			socket.pipe(socket);
		});

		server.listen(21, 'localhost');
		*/

		/*
		And connect with a tcp client from the command line using netcat, the *nix 
		utility for reading and writing across tcp/udp network connections.  I've only 
		used it for debugging myself.
		$ netcat 127.0.0.1 1337
		You should see:
		> Echo server
		*/

		/* Or use this example tcp client written in node.js.  (Originated with 
		example code from 
		http://www.hacksparrow.com/tcp-socket-programming-in-node-js.html.) */

		var net = require('net');

		var client = new net.Socket();
		let connected = false;

		client.on('data', function(data) {
			console.log('Received: ' + data);
			//client.write("Hey tu me enviaste: " + data);
			//a = data;
		});

		client.on('close', function() {
			console.log('Connection closed');
			connected = false;
		});

		client.on('error', function() {
			console.log('Connection error');
			connected = false;
		});

		let connect = function(){
			if (!connected)
			{
				client.connect(1234, '192.168.43.213', function() {
					console.log('Connected');
					connected = true;
					client.write('Hello, server! Love, Client.');
				});
			}
		}

		let a = 0;
		let sendData = function(){
			if (connected)
			{
				client.write("Hey tu me enviaste: " + a++ + "\r\n");
			}
		}

		setInterval(connect,1000);
		setInterval(sendData, 1);













=========================================================== CHARTS =================================================================


	HTML
		
		<script src="https://code.jquery.com/jquery-3.1.1.min.js"></script>
		<script src="https://code.highcharts.com/highcharts.js"></script>
		<script src="https://code.highcharts.com/modules/exporting.js"></script>
		<script src="https://code.highcharts.com/modules/export-data.js"></script>
		<script src="https://code.highcharts.com/maps/modules/map.js"></script>

		<div id="container" style="min-width: 310px; height: 400px; margin: 0 auto"></div>

	
	JS
	
		$.getJSON(
			'https://cdn.jsdelivr.net/gh/highcharts/highcharts@v7.0.0/samples/data/usdeur.json',
			function (data) {

				Highcharts.chart('container', {
					chart: {
						zoomType: 'xy',
										panning: true
					},
								mapNavigation: {
						enabled: true,
						enableButtons: false
					},
					title: {
						text: 'USD to EUR exchange rate over time'
					},
					subtitle: {
						text: document.ontouchstart === undefined ?
							'Click and drag in the plot area to zoom in' : 'Pinch the chart to zoom in'
					},
					xAxis: {
						type: 'datetime'
					},
					yAxis: {
						title: {
							text: 'Exchange rate'
						}
					},
					legend: {
						enabled: false
					},
					plotOptions: {
						area: {
							fillColor: {
								linearGradient: {
									x1: 0,
									y1: 0,
									x2: 0,
									y2: 1
								},
								stops: [
									[0, Highcharts.getOptions().colors[0]],
									[1, Highcharts.Color(Highcharts.getOptions().colors[0]).setOpacity(0).get('rgba')]
								]
							},
							marker: {
								radius: 2
							},
							lineWidth: 1,
							states: {
								hover: {
									lineWidth: 1
								}
							},
							threshold: null
						}
					},

					series: [{
						type: 'area',
						name: 'USD to EUR',
						data: data
					}]
				});
			}
		);