Petoi Coding Blocks
How to use the extension library specially developed for the Petoi robot in Mind+
Last updated
Was this helpful?
How to use the extension library specially developed for the Petoi robot in Mind+
Last updated
Was this helpful?
Download the latest version from the
Windows: >= V1.7.0
Mac: version: >= V1.7.3 RC2.0
If you cannot download the software from Mind+'s official website, you can download a stable version from . However, we strongly recommend that you download and use the official latest version.
After the installation is complete, you can open Mind+
We provide on using Petoi Coding Blocks with . Be sure to click next to go through all the videos.
Please follow the instructions in the subpages to prepare according to the robot's mainboard.
Petoi Coding Blocks is a user-extended library of Mind+.
If you open Mind+ by double-clicking the code file(suffix mp or sb3) that uses this extension library or load these code files after opening Mind+, Mind+ will automatically load this extension library.
This extension library can control the robot without compiling and uploading the code to the robot's main board. Click the "Run" button directly to run the program on the Python level and send instructions to the robot's serial port. If you need to stop the program while running, you can click the "Stop" button anytime. The process of the program can be divided into three steps:
Open the serial port
Control the robot
Close the serial port
There are two ways to open the serial port:
When the gyroscope function is turned on, the robot can balance its body in real-time. It may be seen that when the robot is doing preset actions (especially when performing more violent actions), the body will shake back and forth, and even the body will tip over. The robot will automatically perform recovery actions, which may disrupt your preset steps.
If the uploaded sketch is Mind+ mode sketch(#define GROVE_SERIAL_PASS_THROUGH this line is activated), the gyroscope function will be turned off, and the robot will not be able to balance or auto-recover, so there is no need to add this block.
Use this block to let the robot perform skills pre-built on the robot's main board. Skills from "sit" to "zero" are postures (containing only one action frame). Skills from "boxing" to "sniff" are behaviors (containing multiple posture frames and are performed only once). Skills from "stepping" to "trotRight" are gaits (containing multiple posture frames, and are repeated in periodical loops until stopped).
After finishing the current block's task, the program will wait a short time (delay xx seconds) before moving to the next block.
Use this block to let the robot perform the skill in the skill files, which are in the following directory:
Windows: C:\Users\{your user name}\.config\Petoi\SkillLibrary\{model}
MacOS : /Users/{your user name}/.config/Petoi/SkillLibrary/{model}
Linux: /home/{your user name}/.config/Petoi/SkillLibrary/{model}
Use this block to control one joint or multiple joints to rotate in sequence. There are several ways to use the blocks for reference:
Controls individual joint rotations to an absolute angle value.
Controls individual joint rotations to a relative angle value.
Control multiple joints to rotate sequentially to absolute angle values or relative angle values.
Use the joint angle list to control multiple joints to rotate to absolute angle values in a sequence.
Using this block can control multiple joints to rotate at the same time. There are several ways to use the blocks for reference:
Control multiple joints to rotate to absolute angle values or relative angle values at the same time
Use the joint angle list to control the simultaneous rotation of multiple joints to absolute angle values.
Use this block to get the current angle value of the selected joint. It is recommended to assign it to a variable first and then use the variable and algorithm to control other joints to rotate.
Demo code:
Use this block to control all joints to rotate at the same time. Please use it with the "Action frame" block. As shown below:
Use this block to control the robot to play music. There are several ways to use blocks together for reference:
A list made up of multiple "Tone + Duration" blocks
Using a tone duration list
Use this block to write an analog value to a specified pin. Analog value range: 0~255
Use this block to read an analog value from a specified pin.
Use this block to write a high/low-level value to the specified pin. High-level: 1; Low-level: 0.
Use this block to read the high/low-level value of the specified pin.
Use this block to read the distance value from the ultrasonic sensor.
NyBoard (connects to the D6 and D7 pins)
BiBoard (connects to the Rx and Tx pins)
Generally, at the end of the program, it is recommended to use this block to close the serial port communication.
We provide some demos to download for reference in the GitHub repository (Petoi_MindPlusLib/examples).
Paste the GitHub URL() in the text box of the import interface:
For macOS (<=V1.7.2 RC3.0), you need to download and copy the extracted folder (PetoiRobot) to /Users/{your username}/Documents/mindplus-py/environment/Python3.6.5-64/lib/python3.6/site-packages/
If you open Mind+ by double-clicking the icon, it will not automatically load this extension library, and you need to re-import it manually every time you open the app.
Automatically identify and open the serial port
Enter the name of the serial port to open the serial port
If the robot is in , you'd better deactivate the Gyro after the serial port-opening block. It deactivates the gyroscope function to prevent the robot from performing balance feedback actions in real-time. For example:
Use this block to let the robot perform the last skill exported from the .
It is equivalent to inputting the serial command 'T' in the and then delaying the preset time.
The folder name {model} is Bittle or Nybble. When a skill file from the Skill Composer, it will automatically save the skill file to this directory.
Tips: you can also copy & paste the folder from the source code of the OpenCat project on GitHub to the .config/Petoi directory. Therefore, you can use some sample skills for your Mind+ program, and there is no need to use the export function in the Skill Composer.
, represents a list consisting of a and an angle value. For example, [Head panning to 30 degrees] represents the list [0, 30].
It consists of one or more pairs of + angle value, and the specific format is as follows: [joint index, angle value, joint index, angle value...]
The "Action frame" block represents a list of 16 angle values. Each angle value corresponds to the absolute angle value to which the corresponding servo rotates.
Use this block to send a serial command to the robot, which can provide you with more and more flexible control methods. For example, you can input "kkcL" (kick the left front leg), and "khiR" (raise the right front leg to say hello). For more serial port commands, please refer to .
For the (or RUS-04), you can set the two pins ( Trigger and Echo) like this:
