BiBoard V0

Hardware setup

It is built into the BiBoard V0's extension hat as follows:

Software setup

1. Upload Firmware

There are two methods to upload the firmware for the robot.

• use the Petoi Desktop App

• use the Arduino IDE

Petoi Desktop App

You can use the Firmware Uploader within the Petoi Desktop App.

Please select the correct Product type, Board version, and Serial port. The mode should be Standard, so press the Upgrade the Firmware button.

For example, Bittle +X, BiBoard_V0_2, COM3 as follows:

Arduino IDE

You can use Arduino IDE to upload the sketch(OpenCatEsp32.ino).

Modify the product type macro definition in OpenCatEsp32.ino according to the product type you used.

#define BITTLE    //Petoi 9 DOF robot dog, also for Bittle X
//#define NYBBLE  //Petoi 11 DOF robot cat, also for Nybble Q
//#define CUB

Modify the mainboard model macro definition in OpenCatEsp32.ino according to the mainboard (BiBoard) version.

// #define BiBoard_V0_1  //ESP32 Board with 12 channels of built-in PWM for joints
#define BiBoard_V0_2
// #define BiBoard_V1_0

If the robot(Bittle X+Arm) has the robotic arm, you should also activate the macro definition as follows:

#define ROBOT_ARM                 // for attaching the head clip arm

Otherwise, please comment out this line of code.

After the modification is completed, you can click the Upload button (as below) to upload the sketch OpenCatEsp32.ino, and the changes in the code file will be automatically saved.

2. Switch mode

After uploading, the program defaults to Voice mode. If it is in another mode and you want to switch to Voice mode, please open the Serial Monitor and send the XA command.

The test sketch

The test sketch is in the OpenCatEsp32 repository on GitHub (specific path: OpenCatEsp32/ModuleTests/testVoiceCommander). You can visit our GitHub repository https://github.com/PetoiCamp/OpenCatEsp32 to download the complete code, as shown in the following picture: