feat: add safety switch

Signed-off-by: Thomas Lambert <t.lambert@uliege.be>

README.md

@@ -43,22 +43,28 @@ wing, which are measured using absolute magnetic rotary encoders.
 
 ### List of devices
 
-| Device           | Reference    | Usage    |
-|----------------- | --------------- | --------------- |
-| **BLDC**         | [Plettenberg][plettenberg] Advance 30 <br />_(Discontinued by manufacturer)_  | Motor |
-| **ESC**          | [JETI SPIN 75 Pro Opto][jetispin] | Motor controller |
-| **ESC Terminal** | [JETIBOX][jetibox] | Program ESC, motor telemetry |
-| **PSU**          | [Electroautomatik][elektro] PSI 8080 - 60 T (1500W) <br />_(Discontinued by manufacturer)_ | DC power supply |
+| Device            | Reference    | Usage    |
+|------------------ | --------------- | --------------- |
+| **BLDC**          | [Plettenberg][plettenberg] Advance 30 <br />_(Discontinued by manufacturer)_  | Motor |
+| **ESC**           | [JETI SPIN 75 Pro Opto][jetispin] | Motor controller |
+| **ESC Terminal**  | [JETIBOX][jetibox] | Program ESC, motor telemetry |
+| **PSU**           | [Electroautomatik][elektro] PSI 8080 - 60 T (1500W) <br />_(Discontinued by manufacturer)_ | DC power supply |
 | **Controller board**  | [Arduino uno (Rev 3)][arduino] | Full setup control, data logging|
-| **Encoders**     | [Broadcom AEAT 6012][AEAT612] | Flapping angle measurement |
-| **Others**       | N/A | Potentiometers, switches, resistors, etc. |
+| **Encoders**      | [Broadcom AEAT 6012][AEAT612] | Flapping angle measurement |
+| **Potentiometer** | N/A | Manual control of RPM in v1.x.x |
+| **ON/OFF switch** | N/A | Safety: Prevent ESC from starting[^1] |
 
 ## Schematics
 
-[plettenberg]: https://plettenbergmotors.com/
-[serial-studio]: https://serial-studio.github.io/
-[jetispin]: https://www.jetimodel.com/katalog/spin-75-pro-opto.htm
-[jetibox]: https://www.jetimodel.com/katalog/jetibox.htm
-[arduino]: https://store.arduino.cc/products/arduino-uno-rev3
-[elektro]: https://elektroautomatik.de
-[AEAT612]: https://docs.broadcom.com/doc/AV02-0188EN
+[^1]: This is useful in monitoring mode, when the JETIBOX is attached to the ESC
+for analysis. As long as the switch is OFF, the Arduino will bypass the
+potentiometer and write 0 to the ESC. This prevent any accidental start of the
+motor while the operator is looking into diagnostics.
+
+[plettenberg]: <https://plettenbergmotors.com/>
+[serial-studio]: <https://serial-studio.github.io/>
+[jetispin]: <https://www.jetimodel.com/katalog/spin-75-pro-opto.htm>
+[jetibox]: <https://www.jetimodel.com/katalog/jetibox.htm>
+[arduino]: <https://store.arduino.cc/products/arduino-uno-rev3>
+[elektro]: <https://elektroautomatik.de>
+[AEAT612]: <https://docs.broadcom.com/doc/AV02-0188EN>

controller/controller.ino

@@ -21,9 +21,10 @@
 // Include Servo library to generate the PWM signal to control the motors
 #include <Servo.h>
 
-// Declare ESC pins
-byte servoPin1 = 9;
-byte servoPin2 = 10;
+// Declare pins
+byte servoPin1 = 10; // ESC 1
+byte servoPin2 = 9;  // ESC 2
+byte switchPin = 7;  // ON/OFF switch (safety feature)
 
 // Create servo objects to control the ESC
 Servo ESC1;
@@ -34,22 +35,35 @@ void setup() {
   Serial.begin(9600);
   ESC1.attach(servoPin1);
   ESC2.attach(servoPin2);
+  pinMode(switchPin,INPUT);
   delay(1000); // Ensure proper initialization
 }
 
 
 void loop() {
-  int potAnal = analogRead(A0); // read potentiometer value (between 0 and 1023)
+  // Read ON/OFF switch state
+  int switchState = digitalRead(switchPin);
+  String armed;
+
+  // Read and map potentiometer
+  int potAnal = analogRead(A0); // value between 0 and 1023
   int potVal = map(potAnal, 0, 1023, 0, 180); // scale potentiometer value to use with servo lib
 
   // [TEST] Write sine values for visualization in serial-studio
   float freq = 10;
   float angleL = sin(millis()*1000*freq);
-  float angleR = cos(millis()*1000*freq);;
+  float angleR = cos(millis()*1000*freq);
 
   // Send values to ESCs (currently both receive the same input)
-  ESC1.write(potVal);
-  ESC2.write(potVal);
+  if (switchState == LOW){
+    armed = "OFF";
+    ESC1.write(0);
+    ESC2.write(0);
+  } else {
+    armed = "ON";
+    ESC1.write(potVal);
+    ESC2.write(potVal);
+  }
 
   // Print all useful data to serial for processing in serial-studio
   Serial.print("/*");                // Frame start sequence  [/*]
@@ -62,6 +76,8 @@ void loop() {
   Serial.print(angleL);              // %4, Left wing angle [deg]
   Serial.print(",");
   Serial.print(angleR);              // %5, Right wing angle [deg]
+  Serial.print(",");
+  Serial.print(armed);               // %6, Armed status
   Serial.println("*/");              // Frame finish sequence [*/]
   delay(50); // Reduce number of data to output
 

controller/mechaRaptor.json

@@ -17,6 +17,20 @@
                     "units": "s",
                     "value": "%1",
                     "widget": ""
+                },
+                {
+                    "alarm": 0,
+                    "fft": false,
+                    "fftSamples": 1024,
+                    "graph": false,
+                    "led": false,
+                    "log": false,
+                    "max": 0,
+                    "min": 0,
+                    "title": "Ready",
+                    "units": "",
+                    "value": "%6",
+                    "widget": ""
                 }
             ],
             "title": "Runtime",
@@ -33,7 +47,7 @@
                     "log": false,
                     "max": 0,
                     "min": 0,
-                    "title": "Potentiometer tension",
+                    "title": "Pot. tension",
                     "units": "V",
                     "value": "%2",
                     "widget": ""
@@ -47,7 +61,7 @@
                     "log": false,
                     "max": 180,
                     "min": 0,
-                    "title": "Potentiometer mapped",
+                    "title": "Pot. val",
                     "units": "",
                     "value": "%3",
                     "widget": "gauge"