# BiBoard V0

## Hardware setup

It is built into the [**BiBoard V0's extension hat**](https://guide.petoi.com/biboard/biboard-extension-hat) as follows:

<figure><img src="/files/MN0GoFWf7UrTJq0xGJ3G" alt=""><figcaption></figcaption></figure>

## 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](https://guide.petoi.com/desktop-app/firmware-uploader#select-the-correct-options-to-upload-the-latest-firmware) 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.&#x20;

For example, Bittle +X, BiBoard\_V0\_2, COM3 as follows:

<figure><img src="/files/qn8Ehkwkv7nzKsJ180So" alt=""><figcaption></figcaption></figure>

#### **Arduino IDE**

You can use [Arduino IDE](https://www.arduino.cc/en/software) to [upload the sketch](https://guide.petoi.com/arduino-ide/upload-sketch-for-biboard#id-2.-set-up-biboard)(***OpenCatEsp32.ino***).&#x20;

For Bittle or Bittle X:

<pre class="language-cpp"><code class="lang-cpp">#define BITTLE    //Petoi 9 DOF robot dog, also for Bittle X
<strong>//#define NYBBLE  //Petoi 11 DOF robot cat, also for Nybble Q
</strong>//#define CUB
</code></pre>

For Nybble or Nybble Q:

<pre class="language-cpp"><code class="lang-cpp">//#define BITTLE    //Petoi 9 DOF robot dog, also for Bittle X
<strong>#define NYBBLE  //Petoi 11 DOF robot cat, also for Nybble Q
</strong>//#define CUB
</code></pre>

Modify the mainboard model macro definition in OpenCatEsp3&#x32;**.ino** according to the mainboard (BiBoard) version.

```cpp
// #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:

<pre class="language-cpp"><code class="lang-cpp"><strong>#define ROBOT_ARM                 // for attaching the head clip arm
</strong></code></pre>

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.

<figure><img src="/files/tdpRznaQQrpxXC9osxpY" alt=""><figcaption></figcaption></figure>

### 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](https://guide.petoi.com/arduino-ide/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:

<figure><img src="/files/xkAYdahcOoMhWtdwbTNU" alt=""><figcaption></figcaption></figure>


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