Calibrator and Controller
Thanks for choosing Petoi's robot Bittle or Nybble. This guide will help you set up your robot buddy and provide a simpler UI to calibrate, control, and program it. For advanced users, we recommend you keep the robot updated with the OpenCat firmware on Github for the best compatibility and the newest features.
The app works on both Android and iOS devices.
You can also download the android APK and install it on your phone. You need to unzip it before installation.
The LED on the Bluetooth dongle should blink waiting for a connection. Open the app and scan available bluetooth devices. Don't connect the robot with the phone's system-wide Bluetooth settings! Connect the device with the name Bittle, Petoi, or OpenCat. Remember to open the Bluetooth service and grant the app access to the service. On some devices, you may also need to allow the location service for the app, though we are not using any of those information.
If the Bluetooth is connected, its LED will light steady. The robot will play a three-tone melody. If the robot doesn't respond or malfunction later, press the reset button on the NyBoard to restart the program on the NyBoard.
The App should automatically detect Nybble or Bittle with the latest OpenCat firmware. Otherwise, it will show the selections for Nybble or Bittle. The option "Select a robot" also can be re-visited in the control panel.
Enter the calibration interface, click the "Calibrate" button, and all servos will move to the calibration position immediately.
Use the included L-shaped tool as a reference!
When calibrating, first select the index number of the joint servo from the diagram(when adjusting the leg servo, adjust the thigh first, and then adjust the calf), and then click the "+" or "-" button to fine-tune the joint to the right angle state.
You can switch between Rest, Stand, and Walk to test the calibration.
After calibration, remember to click the "Save" button to save the calibration offset. Otherwise, click "<" in the upper left corner to abandon the calibration.
In the control panel, you can use the pe-set buttons to control the robot.
The left panel sets both the robot's gaits and directions and send combined command, such as "walk left" and "trot forward". The robot will only move if an initial gait and direction are selected. The "step" has no direction, and "backward" has left and right directions. The pause button "||" will pause the robot's motion and turn off the servos, so that you can rotate the joints to any angle. The "Turbo" button (
) turns on/off the gyro, a sensor to detect the robot's body orientation. Turning it on will make the robot keep adjusting to body angles, and will know when it's upside down. Turning it off will reduce calculation and make it walk faster and more stable.
The built-in postures and behaviors can be triggered by pressing the buttons. Don't press the button too frequently and repeatedly. Allow some time for the robot to finish its current tasks.
You can also define customized commands by pressing the "+" button. Long-press a custom command button to edit it. There's a lite serial console to test the command and even configure the robot.
Custom commands to try:
m0 -70 0 70
m 0 -70 0 70 8 -30
i 0 -45 8 -30 12 -60
Below are the indexes of the joints for your reference. Observe the patterns of the ordering and try to remember them.
b14 4 14 4 21 4 21 4