add example robot configurations.

README.md

@@ -5,3 +5,94 @@ TranquilFirmware
 [![CodeFactor](https://www.codefactor.io/repository/github/acvigue/tranquilfirmware/badge)](https://www.codefactor.io/repository/github/acvigue/tranquilfirmware)
 
 Firmware for the ESP32-based Tranquil kinetic sand drawing robots
+
+## Robot Configuration Reference
+
+Robot configuration is stored in NVRAM and can be viewed by sending GET request to `/settings/robot` and can be changed by POSTing JSON to `/settings/robot`
+
+Similarly, wifi/ntp/scheduler/light settings can be changed at
+
+- /settings/wifi < Network settings (supports WPA2-Enterprise)
+- /settings/ntp < time zone and ntp server
+- /settings/scheduler < stores scheduled commands
+- /settings/lights < LED lights
+- /settings/security < used to store PIN code
+- /settings/tranquil < only used for storing TranquilAPI encrypted JWT
+
+```js
+//See RobotConfig.example.json for an uncommented version.
+{
+  "robotConfig": {
+    "robotType": "TranquilSmall", //custom robot config name, please change if building your own and submitting PR.
+    "cmdsAtStart": "", //commands to run on startup, seperated by ';' ex. "G28" to home.
+    "evaluators": {
+      "thrContinue": 0, //must be 0
+      "thrThetaMirrored": 1, //to mirror theta axis or not (flip drawings)
+      "thrThetaOffsetAngle": 0.5 //rotate drawings around the bed (DEGREES)
+    },
+    "robotGeom": {
+      "model": "SandBotRotary", //keep SandBotRotary
+      "motionController": {
+        "chip": "TMC2209", //tmc2208 or tmc2209, omit whole object if not using Trinamics, if you are, rest of params are required.
+        "TX1": 32, //UART for drv1
+        "TX2": 33, //UART for drv2, rest of params are self explanatory.
+        "driver_TOFF": 4, //hysterisis TOFF time
+        "run_current": 600, //motor run current (mA)
+        "microsteps": 16, //motor microsteps
+        "stealthChop": 1 //stealthchop, sets stealthchop2 for 2209, stealthchop1 for 2208,2130
+      },
+      "homing": {
+        //homing string, axis A is rotary, B linear.
+        "homingSeq": "FR3;A+38400n;B+3200;#;A+38400N;B+3200;#;A+200;#B+400;#;B+30000n;#;B-30000N;#;B-340;#;A=h;B=h;$",
+        "maxHomingSecs": 120
+      },
+      "blockDistanceMM": 1, //movement resolution in mm (keep at 1, lower stalls bot)
+      "allowOutOfBounds": 0, //keep 0
+      "stepEnablePin": "25", //motor enable GPIO pin
+      "stepEnLev": 0, //motor active logic level
+      "stepDisableSecs": 30, //seconds after last move to turn motors off
+      "axis0": {
+        "maxSpeed": 15, //no idea
+        "maxAcc": 25, //no idea
+        "maxRPM": 4, //max RPM for rotary axis
+        "stepsPerRot": 38400, //steps (including microsteps) for one full rotation of the primary rotary axis
+        "stepPin": "19", //step pin for this axis
+        "dirnPin": "21", //dir pin for this axis
+        "dirnRev": "1", //is direction reversed?
+        "endStop0": {
+            "sensePin": "22", //endstop GPIO pin
+            "actLvl": 0, //triggered at what level?
+            "inputType": "INPUT" 
+        }
+      },
+      "axis1": { //same as above, changes highlighted
+        "maxSpeed": 15,
+        "maxAcc": 25,
+        "maxRPM": 30,
+        "stepsPerRot": 3200,
+        "unitsPerRot": 40.5, //for each rotation of the upper central gear, how much does the linear arm move in MM
+        "maxVal": 145, //maximum MM the linear arm can go out from center
+        "stepPin": "27", 
+        "dirnRev": "1",
+        "dirnPin": "3",
+        "endStop0": { "sensePin": "23", "actLvl": 0, "inputType": "INPUT" }
+      }
+    },
+    "fileManager": {
+      "spiffsEnabled": 1, //must be 1
+      "spiffsFormatIfCorrupt": 1, //self explanatory, i advise against it.
+      "sdEnabled": 1, //must be 1
+      "sdLanes": 1 //1 or 4, sets bus width for SDMMC, sdspi is NOT supported atm.
+    },
+    "ledStrip": {
+      "ledRGBW": 1, //1 for SK6812, 0 for ws2812
+      "ledCount": "143", //led count
+      "tslEnabled": "1", //does robot have TSL2561
+      "tslSDA": "16", //if so, i2c pins.
+      "tslSCL": "17" // ^^^
+    }
+  },
+  "cmdSched": { "jobs": [] }, //don't edit, doesn't do anything but fw still relies on it being here
+  "name": "Tranquil" //robot name, not hostname, that is set in wifi settings. 
+}
+```

RobotConfig.example.json

@@ -0,0 +1,70 @@
+{
+  "robotConfig": {
+    "robotType": "TranquilSmall",
+    "cmdsAtStart": "",
+    "webui": "cnc",
+    "evaluators": {
+      "thrContinue": 0,
+      "thrThetaMirrored": 1,
+      "thrThetaOffsetAngle": 0.5
+    },
+    "robotGeom": {
+      "model": "SandBotRotary",
+      "motionController": {
+        "chip": "TMC2209",
+        "TX1": 32,
+        "TX2": 33,
+        "driver_TOFF": 4,
+        "run_current": 600,
+        "microsteps": 16,
+        "stealthChop": 1
+      },
+      "homing": {
+        "homingSeq": "FR3;A+38400n;B+3200;#;A+38400N;B+3200;#;A+200;#B+400;#;B+30000n;#;B-30000N;#;B-340;#;A=h;B=h;$",
+        "maxHomingSecs": 120
+      },
+      "blockDistanceMM": 1,
+      "allowOutOfBounds": 0,
+      "stepEnablePin": "25",
+      "stepEnLev": 0,
+      "stepDisableSecs": 30,
+      "axis0": {
+        "maxSpeed": 15,
+        "maxAcc": 25,
+        "maxRPM": 4,
+        "stepsPerRot": 38400,
+        "stepPin": "19",
+        "dirnPin": "21",
+        "dirnRev": "1",
+        "endStop0": { "sensePin": "22", "actLvl": 0, "inputType": "INPUT" }
+      },
+      "axis1": {
+        "maxSpeed": 15,
+        "maxAcc": 25,
+        "maxRPM": 30,
+        "stepsPerRot": 3200,
+        "unitsPerRot": 40.5,
+        "maxVal": 145,
+        "stepPin": "27",
+        "dirnRev": "1",
+        "dirnPin": "3",
+        "endStop0": { "sensePin": "23", "actLvl": 0, "inputType": "INPUT" }
+      }
+    },
+    "fileManager": {
+      "spiffsEnabled": 1,
+      "spiffsFormatIfCorrupt": 1,
+      "sdEnabled": 1,
+      "sdLanes": 1
+    },
+    "ledStrip": {
+      "ledRGBW": 1,
+      "ledCount": "143",
+      "tslEnabled": "1",
+      "tslSDA": "16",
+      "tslSCL": "17"
+    }
+  },
+  "cmdSched": { "jobs": [] },
+  "name": "Tranquil"
+}