Upload Sketch for BiBoard

This chapter is for Advanced users with programming experience.

1. Read the Quick Start Guide

For the specific parameters of each functional module of BiBoard, please refer to：

2. Set up BiBoard

2.1 Prepare the ESP32 development environment

Please refer to Chapter 3.2.1 of the BiBoard Quick Start Guide.

2.2 Modify the code file in the package

sdkconfig.h

For Windows: C:\Users\{username}\AppData\Local\Arduino15\packages\esp32\hardware\esp32\2.0.*\tools\sdk\esp32\qio_qspi\include\sdkconfig.h
For Mac: /Users/{username}/Library/Arduino15/packages/esp32/hardware/esp32/2.0.*/tools/sdk/esp32/qio_qspi/include/sdkconfig.h
For Ubuntu: Arduino root directory/.arduino15 (hidden file)/packages/esp32/hardware/esp32/2.0.12/tools/sdk/esp32/qio_qspi/include/sdkconfig.h

Append a line of code at the end of the file:

#define CONFIG_DISABLE_HAL_LOCKS 1

2.3 Setup the options

Please refer to the option list to set up the board's upload speed, CPU frequency, etc.

There is a setting for the Flash Size and Partition Scheme among the options. For more information, refer to the next section.

2.4 Choose hardware partition

The BiBoard V0 uses an ESP32 with a 16M flash. To simplify, you can use the default 4 MB partition map without a problem. There's plenty of programming space for the standard OpenCatEsp32 firmware.

The BiBoard V1 uses an ESP32 with a 4M flash.

4 MB partition

You can use the default 4MB with spiffs. You can also use other partition schemes under the 4 MB flash limit, such as "No OTA" or "Huge APP".

16 MB partition

Suppose you want to fully utilize the 16 MB flash of BiBoard (it's unnecessary and takes a longer uploading time). You can read the user manual for the Add hardware partition configuration option in Arduino IDE.

2.5 Download the source code & install the library

We keep updating the codes as an open-source project. You can star-mark and follow our GitHub repository to get the newest features and bug fixes. You can also share your codes with worldwide OpenCatEsp32 users.

Download the OpenCatEsp32 repository from GitHub repository: https://github.com/PetoiCamp/OpenCatEsp32 We suggest you utilize GitHub’s version control feature. Otherwise, make sure you download the WHOLE OpenCatEsp32 FOLDER every time. All the codes have to be the same version to work together.

If you download the Zip file of the codes, you will get an OpenCatEsp32-main folder after unzipping. Please rename it to OpenCatEsp32 before opening the OpenCatEsp32.ino so that the two names match.

No matter where you save the folder, the file structure should be:

There are several test***.ino codes in the ModuleTests folder. You can upload them separately to test specific modules (I recommend using testBuzzer.ino as your first test sketch).

Install the libraries:
1. Download and install the MU Vision Sensor library into the Arduino IDE.
b. Install ArduinoJson in the Library Manager:

2.6 Connect to BiBoard via USB type-C data cable

Set the serial port in the Arduino IDE:

If you cannot find the serial port after connecting to your computer:

for BiBoard V0:
You need to install the driver for the CP210x chip.
For BiBoard V1:
You need to install the driver as below:
- Windows: https://www.wch-ic.com/downloads/CH343SER_EXE.html
- Mac: https://www.wch-ic.com/downloads/CH34XSER_MAC_ZIP.html
If the battery powers on the BiBoard, please long-press the button on the battery >=3s to power off the BiBoard, so that the BiBoard is only powered through the USB cable and only the blue LED is lit up.

2.7 Compile and upload the sketch

Modify the device type macro definition in OpenCatEsp32.ino according to the device type.

#define BITTLE    //Petoi 9 DOF robot dog: 1 on head + 8 on leg
//#define NYBBLE  //Petoi 11 DOF robot cat: 2 on head + 1 on tail + 8 on leg
//#define CUB

Modify the motherboard 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) with the robotic arm, you should also activate the macro definition as follows:

#define ROBOT_ARM                 // for attaching head clip arm

Otherwise, please comment out this line 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.

2.8 Program Initialization

If the version date of the currently uploaded sketch is newer than the version date of the mainboard firmware, it will automatically enter the initialization startup mode after the sketch upload is completed.

Please open the serial monitor and set the configuration parameters of the serial port monitor to 115200 baud rate and No line ending.

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

If you do not see the startup information after opening the serial monitor, please short press the Reset button on the mainboard.

Next you will see the following prompt questions:

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.

If you want to keep the previous joint calibration data, please send 'n'.

- 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.

If you want to keep the previous IMU calibration data, please send 'n'.

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.

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：

* 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.

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.

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

Voice. For BiBoard V0, the switch on the extension hat should be dialed to the Voice command side （default mode）

Ultrasonic. For BiBoard V0, the switch on the extension hat should be dialed to the Uart2 side; voice control will not work.

Camera

Light

Touch

PIR

Gesture

IR distance

Quick demo

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.

Enable the back touch funtion.

Disable all the module functions above.

RandomMind (On/Off)

The behavior of the official modules is defined in separate header files in OpenCat/src/. You can find them in OpenCat/src/io.h -> readSignal(). The behavior of Quick demo mode is defined in OpenCat/OpenCat.ino -> quickDemo(). You can study the example code to write your functions.

You can learn about the function of each module through the EXTENSIBLE MODULES.

2.10 Power on

Long-press the battery button and boot up the robot with one side up. It will enter the calibration state automatically in the regular startup mode. The picture below shows the head, the upper and lower legs installed after the robot enters the calibration state.

Please refer to Chapter 5 🔌 Connect Wires and Chapter 6 📐 Calibration for the complete calibration process.

If you power on the robot and it is upright (with its back upward), the robot will start from the "rest" posture (fold the legs and unlock the servos) in the regular startup mode.