borntoleave
commented
2 years ago I developed a new IMU routine based on this repo https://github.com/ElectronicCats/mpu6050/, which is compatible with ESP32 and ATmega328P.
The current repo is just a walking demo to show every peripheral can work. It is going to have a big update soon. I have just finished a complete revision to give the ESP32 board (BiBoard) a superior performance and integrity than the previous OpenCat firmware on ATmega328P (NyBoard). You may follow our site at petoi.com or my social @petoicamp for the release announcement. I may put the new version in the grand OpenCat repo.
I'm attaching the changelog of the new firmware so you can expect what new features to come:
Change Log
Mar 1, 2022
- Support IOS Ble app
- Correct the angle range of m token (use int instead of int8_t).
Feb 26, 2022
- Correct an error when reading commands. The remaining serial commands should be checked within the token's available condition.
Feb 22, 2022
- Change skillList to a pointer and init it in setup().
- Correct the lastCmd/newCmd logic of the initial posture.
Feb 19, 2022
- Add macro for GYRO.
- Make the robot enter the joint calibration state (different from initialization) if it is upside down. Otherwise, start up normally.
Feb 8, 2022
- Reduce the odds of random noise when shutDown servos by detaching them then re-attach.
- Improve the sound for falling over.
Feb 7, 2022
- Set the bootup posture to calibrate state, for convenient installation. Disable gyro and auto behavior until first user input.
- Optimize servo angle range.
- Merge the token FOLD with regular skills.
- Tune the pee, hi, and balance skills.
- Optimize low battery checking logic. Safely transform to rest posture then shut the servos.
- Tune LED.
- Tune adjustment damper.
- Remove the delay between postures.
- Add special sound for falling over.
Feb 6, 2022
- Add a 'v' token to print the MPU for once and a 'V' token to print the MPU for every loop.
- Fix a bug when reading IMU acceleration data.
- Add comments the difference between REAL_ACCELERATION and WORLD_ACCELERATION.
- Correct the servos' joint angle range.
- Add a low voltage alarm for BiBoard2.
- Make NeoPixel blink with motion for BiBoard2.
Feb 5, 2022
- Add T_PRINT_GYRO 'V' to toggle printing of Gyro data.
Feb 2, 2022
- Merge PCA9685 PWM driver in the main code to be activated with proper macro.
- BiBoard2 works!
Feb 1, 2022
- Implement writeAngle() outside the Petoi_PWMServoDriver Class.
Jan 29, 2022
- Fix the infinite loop of "play dead - recover" and "m (or other non-skill token) - recover".
- Use hardware PWM tone library to generate beep and improved the music quality.
Jan 27, 2022
- Create a token 'z' to turn on/off the power saver and random behaviors.
- Create a token 'r' to change the adaption directions on a ramp.
- Define fold and rotate behavior for cub.
- Add I2C detector and macro for IR.
Jan 26, 2022
- Write the log up-to-date.
- Restructure T_SKILL reaction to simplify the control flow.
- Fix bug in power saver.
- Improve power saver and randomMind logics.
- Fix adjustment jump in recovery routine.
- Robot resume previous status after recovery.
- Study ESP32 timer for PWM. Find the limitation for servo frequency.
Jan 25, 2022
- Add a random behavior generator when the robot is idle. The list can be predefined and support all kinds of tokens.
- Fixed the bug of allocating large skill data array by redesigning the Skill class.
- Add a new melody for the initialization stage.
Jan 24, 2022
- Add a power saver to bring the robot to rest after being idle for 15 seconds.
- Try to locate the bug with a large memory operation for T_SKILL_DATA.
- Add a new token, T_SKILL_DATA, to receive the skill data from the serial port in real-time and perform the skill locally to avoid the overhead of communication or slow compiling and uploading in Arduino IDE. Compatible with all three types of skills.
Jan 23, 2022
- Support the 12 DOF model. The code works on Nybble, Bittle, and the 12 DOF model by changing a single macro definition.
- Enum Petoi models of servos and updated the initializer for servos.
- Automatically set the Bluetooth device name for the three models.
Jan 22, 2022
- Generate a finer gait for Nybble, and adjust the code for Nybble with additional head and tail joints.
- Fix the jig when changing from gait to posture by resetting the frame number.
- Add a damper after a long behavior to reduce the jump in the balancing adjustment value.
- Make the head and tail joint work to support Nybble.
Jan 21, 2022
- Add a macro to go through the initialization stage automatically.
- Add a tag to fix the problem when Bluetooth instructions are skipped in the main program due to multi-processor synchronization.
- Add multiple serial printing methods to support the Bluetooth app.
- Generate the Bluetooth device name with two random Hex numbers at initialization and save it to EEPROM. The name won't change unless the board's "birthmark" is changed.
- Improve the EEPROM I/O functions.
- Fix the bug with 'p' and 'g' tokens.
Jan 19, 2022
- Add ESP32config instructions to fix the MPU6050 lock.
Jan 18, 2022
- Write I/O for the App in the main code.
- BLE connects to the App.
- Write a skill to climb up a steel table with magnets.
Jan 16, 2022
- Add 'p' and 'g' tokens.
Jan 14, 2022
- Write a generic routine to fix the bug with the large String buffer for 'i' and 'l' tokens.
- Fix the indexing bug when changing walking DOF on the 12 PWM board.
Jan 13, 2022
- Write the macro to automatically decide WALING_DOF and DOF with different combinations of models and boards.
- Fail to run the MP3 demo due to the upgrade from ESP 1.0 to 2.0.
- Tune the char string style of cmd.
- Tune motion adjustment parameters.
Jan 12, 2022
- Structure multiple modules' libraries for the whole project.
Jan 11, 2022
- Adjust the servo library to fix the PWM channel conflict!
- Locate the cause of detached servos
- Add a mirror function to flip the left/right side of movements randomly.
Jan 10, 2022
- Investigate the relationship between the PWM channel and detached servos.
Jan 9, 2022
- Move dependent libraries into the project folder to help new users.
- Add calibration routine for MPU6050 and save the offsets in EEPROM during initialization.
- Add a "birthmark" to know if a board has been initialized so that it will boot up directly next time.
Jan 8, 2022
- Solve the detached servo problem by re-attaching the corresponding channels to continue other parts.
- Joint calibration routine works.
- MPU works but without calibration.
Jan 1, 2022
- Fix the bug when switching to behaviors by correcting the servo indexes on a 12 PWM board.
Dec 30, 2022
- Behavior partially works.
- Add a boolean to check if IMU is updated and decide if to recalculate the balancing adjustment values.
Dec. 28, 2022
- Servos can move.
Dec 16. 2022
- Improve the code and demo's doc for serialMaster.
Dec. 10, 2022
- Fix the esp32-hal-i2c-slave.c bug that locks IMU at booting stage.
marcotchella
Hi I´m learning robotics with this fantastic project. I´m interested in Biboard and ESP32 version In documentation i see that imu libarie need changes and you offer a modified version The question is how to modifie the librarie or get the version that you offer Thank you
https://docs.petoi.com/biboard/biboard-v0#3.2.2-imu