Rebelia Hand Firmware
=====================

Overview
========

This folder contains the firmware for the Rebelia Hand, responsible for controlling the servomotors and processing commands for hand movements. The firmware is designed to work seamlessly with the open-source hardware of the robotic hand.

The firmware is licensed under the GNU GPL License, ensuring that any modifications or derivatives remain open-source and freely available to the community.

Structure
=========

```
/firmware
  ├── src/               # Source code for the firmware
  ├── include/           # Header files (.h)
  ├── LICENSE.txt        # Full text of the GPLv3 license
  ├── README.md          # This document
  └── Makefile           # Build instructions (optional, if applicable)
```

Licensing
=========

The firmware in this folder is released under the GNU GPL License.

By using or modifying this firmware, you agree to:

Attribute the original authors.

If you distribute any modified versions of this firmware, they must be released under the same GNU GPL license.

Include a copy of the GNU GPL license with any distribution of this firmware.

You can find the full license text in the LICENSE.txt file.


Copyright Notice
================

Each source file contains a copyright notice similar to the following:

```
/*
  Rebelia-Hand-Firmware is the control software for the Rebelia Hand

  Website: https://www.robotgarage.org
  Author: Vittorio Lumare
  Email: vittorio.lumar@robotgarage.org 

  GNU GPL License

  Copyright (c) 2025 Vittorio Lumare

  
  This file is part of Rebelia-Hand-Firmware.

  Rebelia-Hand-Firmware is free software: you can redistribute it and/or 
  modify it under the terms of the GNU General Public License as published 
  by the Free Software Foundation, either version 3 of the License, or 
  (at your option) any later version.

  Rebelia-Hand-Firmware is distributed in the hope that it will be useful, 
  but WITHOUT ANY WARRANTY; without even the implied warranty of 
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 
  
  See the GNU General Public License for more details.

  You should have received a copy of the GNU General Public License along 
  with Rebelia-Hand-Firmware. If not, see <https://www.gnu.org/licenses/>. 
*/
```

Dependencies
==================
This firmware may reference external libraries via `#include <library.h>`. These libraries are not included in this repository, and it is the user's responsibility to ensure they are installed and correctly licensed.

Please refer to the following external dependencies:

* SCServo by FT&WS: (GNU GPL) — [https://github.com/workloads/scservo]
* BluetoothSerial by Henry Abrahamsen: [Released into the public domain] — [https://github.com/hen1227/bluetooth-serial]
* ESP32FFT modified version by Vittorio Lumare: (Custom License) — [https://github.com/vittorio-lumare/ESP32FFT]
	* Note:  The original version is by Robin Scheibler [https://github.com/fakufaku/esp32-fft]


Prepare the Arduino IDE for ESP32
=================================
1. Install the Arduino IDE 2
2. Open the Arduino IDE 2
3. Open the Arduino Boards Manager
	1. Install 'esp32' by Expressif Systems


Install the Libraries
=====================
Note: Some libraries are manually installed, while others use Arduino's Library Manager. 

Libraries with manual installation
----------------------------------
1. Install the ESP32FFT library:
2. Download the ESP32FFT Arduino library from [https://github.com/vittorio-lumare/ESP32FFT]
3. Save the 'ESPfft' folder in your `Documents/Arduino/libraries` folder.

Libraries with automatic installation
-------------------------------------
1. Open Arduino IDE.
2. Go to Sketch → Include Library → Manage Libraries.
3. Open the Arduino's Library Manager:
	1. Search and install 'SCServo' by FT&WS
 	2. Search and install 'BluetoothSerial' by Henry Abrahamsen

Alternatively, you can manually install these libraries by downloading them and placing them in your `Documents/Arduino/libraries` folder.

Prepare the 'Rebelia Human' sketch
==================================
1. Open the Arduino IDE 2
2. Open 'RebeliaHuman' sketch

How to Compile and Upload
=========================
1. Ensure you have all dependencies installed.
2. Navigate to the firmware directory and open the .ino file using Arduino IDE.
3. Use Arduino IDE to build and upload the binary to the microcontroller board.

Contributions
=============
Contributions are welcome! To contribute:

1. Fork the repo.
2. Create a branch (feature-xyz).
3. Submit a pull request.


Contact
=======
For any questions or collaboration, reach out at vittorio.lumare@robotgarage.org
Please stay tuned on https://www.robotgarage.org
Feel free to open issues for bugs, feature requests, or discussions!