Enjaksakavella

This is a project to control an electric wheelchair with custom controllers.

Project parts:

• Electronics connecting to wheelchair
• BLE-enabled Arduino driving the electronics
• Computer with software which handles:
  • BLE connection to Arduino
  • Connection to controllers
  • Visualizing controller working principles
  • Visualizing commands sent to wheelchair
• Custom controller(s)
  • Cap with eye-tracking camera

Requirements

Python Packages

• General (Qt)
  • PySide2
• Bluetooth on Linux
  • pydbus
  • python3-gi (from distribution repositories)
  • vext
  • vext.gi (for python3-gi)
• For Eyetracker controller
  • OpenCV2
  • numpy

Arduino Libraries:

• ArduinoBLE

Documentation

More documentation can be found in /doc folder

Quick Start Guide

Using a laptop with linux and BLE-capable bluetooth

Install software on computer

1. Clone the git repository

    git clone https://github.com/inkubio/enjaksakavella.git
   

2. Create a new virtual environment for the project and activate it

    cd enjaksakavella
    python3 -m venv .venv
    source .venv/bin/activate
   

   When running the program, remember activate this virtual environment first by running the activate script.

3. Install required software, with python packages in the virtual environment

   For Qt:

    pip3 install pyside2
   

   For DBus:

    pip3 install pydbus
   

   For DBus error handling use system's GObject Inspector since the packages can't be found on pip. First, ensure that you have python3-gi installed:

    sudo apt install python3-gi
   

   For compiling python modules:

    sudo apt install python3-dev
   

   For Qt wayland support: sudo apt install qtwayland5

   Then install vext package to use python3-gi

    pip3 install vext --no-binary :all:
    pip3 install vext.gi --no-binary :all:
   

   For Eyetracker: (opencv-python also installs numpy)

    pip3 install opencv-python
   

   For acceleration glasses: pip3 install phidget22

    Additionally, install the libphidget22 library to /usr/lib, for example by following these compile instructions: https://www.phidgets.com/docs/OS_-_Linux#Source%20Install . Remember to also add the udev-rule!
   

   Check that you get something like this with pip3 list and the setup should be done.

    (.venv) tuomas@blini:~/Ohjelmointi/enjaksakavella/src$ pip3 list
    Package          Version 
    ---------------- --------
    numpy            1.22.3
    opencv-python    4.5.5.64
    Phidget22        1.10.20220211
    pip              20.3.4
    pkg-resources    0.0.0
    pydbus           0.6.0
    PySide2          5.15.2.1
    ruamel.yaml      0.17.21
    ruamel.yaml.clib 0.2.6
    setuptools       44.1.1
    shiboken2        5.15.2.1
    vext             0.7.6
    vext.gi          0.7.4
   

Control the wheelchair

1. Connect the electronics to RNET OMNI's port 1
2. Turn on the wheelchair from RNET OMNI
3. Set control program to 3 from RNET OMNI
4. Run main.py in src folder

• You may need to specify using Wayland on newer OS versions: python main.py -platform wayland

5. Select Bluetooth wheelchair and click connect
6. Select your favourite controller from the GUI
7. Enable desired movement(s) from the GUI
8. Move around without the need to use your legs

You should see this after step 3: