{% endhint %}
* You can check the version date of the currently uploaded sketch in the source code file (OpenCatEsp32/src/OpenCat.h):\
`#define DATE "250218" // YYMMDD`
* You can send the serial command "**?**" in the serial monitor to check the version date of the mainboard firmware:\
When the mainboard is powered on, open the serial monitor and you will see the startup information:
```
ets Jun 8 2016 00:22:57
rst:0xc (SW_CPU_RESET),boot:0x1b (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1344
load:0x40078000,len:13964
load:0x40080400,len:3600
entry 0x400805f0
k
Flush the serial buffer...
* Start *
Bittle X
Software version: B02_250121
Scanning I2C network...
- I2C device found at address 0x54: EEPROM
- I2C device found at address 0x5C: Misc.
- I2C device found at address 0x68: MPU6050
- I2C device found at address 0x69: ICM42670
- I2C device found at address 0x7E: Misc.
- done
GroveVisionQ 0
MuQ 0
Set up the new board...
Unmute and set volume to 5/10
Using constants from I2C EEPROM
- Name the new robot as: Bittle45
```
{% hint style="info" %}
If you do not see the startup information after opening the serial monitor, please short press the **Reset** button on the mainboard.
{% endhint %}
Next you will see the following prompt questions:
```cpp
Reset the joints' calibration offsets? (Y/n):
```
* Send '**Y**' to the question, which means resetting all servo corrections to zero.
* Send "**n**" to skip this step.
{% hint style="info" %}
If you want to keep the previous joint calibration data, please send '**n**'.
{% endhint %}
```cpp
- Calibrate the Inertial Measurement Unit (IMU)? (Y/n):
```
* Send '**Y**' to the question, which means calibrating the IMU, i.e. the gyro/accelerometer sensor.
* Send "**n**" to skip this step.
{% hint style="info" %}
If you want to keep the previous IMU calibration data, please send '**n**'.
{% endhint %}
{% hint style="warning" %}
Halts at the connection stage. To restart it, you can close and reopen the serial monitor or press the reset button on BiBoard. Put the BiBoard **FLAT** on the table, and don't touch it during calibration.
Sometimes, the program halts at the connection stage. To restart it, you can close and reopen the serial monitor or press the reset button on BiBoard.
The program starts calibration after playing the melody 6 times.
{% endhint %}
```
Run factory quality assurance program? (Y/n)
```
Input '**n**' and press **Enter** to continue. Or you can do nothing, it will Auto skip in 5 seconds.
The details of serial port printing information are as follows：
```cpp
* Start *
Scanning I2C network...
- I2C device found at address 0x54 !
- I2C device found at address 0x68 !
- done
Set up the new board...
// 蓝牙连接时使用的设备名称
- Name the new robot as: BittleED
Reset the joints' calibration offsets? (Y/n):
Y
Buzzer volume: 5/10
- Calibrate the Inertial Measurement Unit (IMU)? (Y/n):
Y
Put the robot FLAT on the table and don't touch it during calibration.
Initializing MPU6050...
OK
If the program stucks, reinstall Arduino ESP32 boards version 2.0.12. Newer version may cause bugs!
- Testing MPU connections...attempt 0
- MPU6050 connection successful
- Initializing DMP...
MPU offsets: 2691 1893 1181 72 -57 0
Calibrate MPU6050...
>....................>....................
MPU offsets:
// X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro
//OFFSETS 2759, 1871, 1173, 73, -56, -4
- Enabling DMP...
- DMP ready! Waiting for the first interrupt...
BLE: Bittle45_BLE
Waiting for a BLE client connection to notify...
SSP: Bittle45_SSP
The SSP device is started, now you can pair it with Bluetooth!
Setup ESP32 PWM servo driver...
Calibrated Zero Position
135 225 135 135 190 80 190 80 190 80 80 190
Build skill list...88
Run factory quality assurance program? (Y/n)
(Auto skip in 5 seconds)
5...4...3...2...1...n
TaskQ
rest
11
Init voice
Number of customized voice commands on the main board:
10
Turn on the audio response
Show Petoi Logo color
S, A, T, L, D, I, B, U, G, C, Q,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
Ready!
g
rest
d
XAaXAc
Switch English
```
When the string "**Ready!**" is output in the serial monitor, the program will enter the **regular startup mode**.
Every time the mainboard is powered on, it compares the BIRTHMARK in the EEPROM to determine whether the program has been initialized. If the program has already been initialized, it will **not enter** the **initialization startup mode** again.
{% hint style="info" %}
**Note:** When the mainboard is powered on, the music melodies played in the **regular startup mode** and the **initialization startup mode** are completely different. This is convenient for users (no need to open the serial monitor) and can also identify the startup mode.
If you need to clear the calibration parameters of the servo and recalibrate the joint servo, or recalibrate the IMU, you can send the serial command "**!**" in the serial monitor, and the program will **re-enter** the **initialization startup mode**.
{% endhint %}
### 2.9 Swith working mode via the serial commands (Optional)
The default code runs the **Standard** mode (including the **Voice command** function). If you want to switch modes, Please open the serial monitor and send the following serial commands:
| Serial command | Function |
|---|---|
| XA | Voice. For BiBoard V0, the switch on the extension hat should be dialed to the Voice command side （default mode） |
| XU | Ultrasonic. For BiBoard V0, the switch on the extension hat should be dialed to the Uart2 side; voice control will not work. |
| XC | Camera |
| XL | Light |
| XT | Touch |
| XI | PIR |
| XG | Gesture |
| XD | IR distance |
| XQ | Quick demo |
| XS | Enable the Serial 2(Tx2, Rx2). For BiBoard V0, the switch on the extension hat should be dialed to the Uart2 side; voice control will not work. |
| XB | Enable the back touch funtion. |
| X | Disable all the module functions above. |
| z | RandomMind (On/Off) |