command for showing camera list:

ffmpeg -f avfoundation -list_devices true -i ""

rough measurement: at 2.1m tall, iphone camera should see 2.4m by 2.4m. which is plenty enough for 30 robots.

main files to use as of 01/12/2025 : robot_traj.py sparknode_calibration_tuner.py sparknode_mqtt_control.py MQTT_CONTROL_DOCS.md

how to build espidf project:

get_idf go to some project and add dependency (like sparkcore): (only first time) idf.py add-dependency "espressif/led_strip^3.0.0" build the project idf.py build

launch http server: del everything in system/ota folder, stay in the project root, execute ../system/utilities/prep_ota_bin.sh <spark-id> and start http server: python3 -m http.server --bind 0.0.0.0 8000 --directory <address to ota folder>

testing command: mosquitto_pub -h 192.168.11.100 -t "arena/sparknode15/cmd" -m "drive forward 10 1500"