Petoi Doc Center
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  • Welcome to Petoi Doc Center
  • Getting Started Guide
  • 🙋‍♂️FAQ(Frequently Asked Questions)
  • Petoi robot joint index
    • Joint Pins on NyBoard
      • Nybble
      • Bittle
    • Joint Pins on BiBoard V0
      • Bittle X
      • Bittle X+Arm
    • Joint Pins on BiBoard V1
      • Bittle X
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      • Nybble Q
  • Bluetooth Connection
    • BiBoard
    • NyBoard
  • Upload Firmware
    • NyBoard
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    • BiBoard V1
  • Joint Calibration
  • Infrared Remote
    • Remote Controller
  • Mobile App
    • Introduction
    • Calibrator
      • Nybble
      • Bittle
    • Controller
  • Desktop APP
    • Introduction
    • Firmware Uploader
      • NyBoard
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    • Joint Calibrator
      • NyBoard Preparation
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      • Nybble
      • Bittle / Bittle X
        • Bittle (NyBoard)
        • Bittle X (BiBoard V0)
        • Bittle X (BiBoard V1)
      • Bittle X+Arm
        • BiBoard V1
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    • Skill Composer
      • NyBoard Connection
      • BiBoard Connection
      • Interface
        • Nybble
        • Bittle / Bittle X
        • Bittle X+Arm
    • Tools
  • Block-based programming
    • Petoi Coding Blocks
      • NyBoard Preparation
      • BiBoard Preparation
    • Block-based Coding Curriculum - Learn Quadruped Robotics for Beginners
    • Python coding mode in Mind+
    • Generic Arduino Uno Blocks
    • Install Mind+ on Chromebook
  • Arduino IDE
    • Upload Sketch for NyBoard
    • Upload Sketch for BiBoard
    • Calibrate the joints with Arduino IDE
    • Serial Monitor
    • C++ Curriculum: Learn Quadruped Robotics for Beginners
    • Install Arduino IDE on Chromebook
  • Free Curriculum
    • 📚Download
  • APIs
    • 🖇️Serial Protocol
      • Feedback servos
      • Nested task queue and signal generator
    • 🐍Python API
    • 🐛8266 MicroPython controller
      • Run MicroPython on ESP8266
      • Setup WebREPL
      • Using the ESP-NOW protocol
    • 🦎8266 Arduino C Controller
    • ©️C++ API
    • 🍓Raspberry Pi serial port as an interface
      • For BiBoard V1
    • 💻Set up Development Environment on Chromebook
    • 🤖ROS
  • Nyboard
    • Overview
    • NyBoard V1_0
    • NyBoard V1_1 & NyBoard V1_2
  • BIBOARD
    • BiBoard V0 Guide
    • BiBoard Extension Hat
    • Demo Applications
      • 1.GPIO port
      • 2.Serial port
      • 3.Analog-digital converter
      • 4.Digital-Analog Converter
      • 5.EEPROM (Electrically Erasable Programmable read only memory)
      • 6.Gyro IMU(MPU6050)
      • 7.Infrared remote control
      • 8.PWM(Pulse Width Modulation)
      • 9.Servo(under construction)
      • 10.Classic Bluetooth serial port SPP
      • 11.Bluetooth low energy (BLE) serial port pass-through
      • 12.File system SPIFFS
      • 13.Add hardware partition configuration option in Arduino IDE
      • 14.Play MP3
      • 15.The usage of Wi-Fi OTA(Over-The-Air)
    • BiBoard V1 Guide
  • Communication Modules
    • Introduction (For NyBoard)
    • USB Uploader (CH340C or CH343G)
    • Dual Mode Bluetooth
    • WiFi module ESP8266
      • ESP8266 + Python Scripts Implement wireless crowd control
  • Extensible Modules
    • Introduction
    • MU Camera
    • Ultrasonic Sensor
    • Light Sensor
    • Touch Sensor
    • Gesture Sensor
    • PIR Motion Sensor
    • IR Distance Sensor
    • Voice Command Module
    • Petoi AI Vision Module
    • Advanced development and application of AI vision modules
      • Model Training
      • Model quantification
      • Model deployment
      • Training on the COCO DIY dataset
    • Robot Arm
      • Upgrade your older Bittle/Bittle X for the robotics arm gripper
    • 🎮Joystick with Micro:Bit
  • Applications
    • Melody Creation
    • Skill Creation
    • OpenCat Imitation Tutorial
    • Programmable Puppet Character
    • Tutorial for simulating Bittle In Isaac Sim
  • History
    • Upload Sketch For NyBoard (software 1.0)
  • Technical Support
    • 💾Supporting Application and Software
    • 🔧Burn Bootloader for NyBoard
    • 🛠️Useful Tools
    • 🔋Battery
  • Useful Links 🕸
    • 🔭Home of Petoi Robots
    • 🛒Shop Coding Robots
    • 💿GitHub of OpenCat
    • 🎪PetoiCamp (Forum)
    • 📽️Petoi Robot Videos
    • 📬Users' repositories
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On this page
  • Gaits
  • Postures and behaviors
  • Customized commands
  • Create a single command
  • Import new skills as a customized button
  • Create a group command
  • Make your robot act randomly
  • Updates and support

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  1. Mobile App

Controller

In the control panel, you can control the robot to perform various postures, behaviors, and gaits.

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Last updated 28 days ago

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Gaits

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.

Postures and behaviors

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.

Customized commands

  • Press and hold the button and drag to change the button position.

  • Double-tap the command button to edit it.

  • You can also create a customized single command/group command by pressing the "+" button.

Create a single command

After pressing the Create Command button, you can see the following interface:

After entering the editing state, there's a serial console to test the command and configure the robot.

You can try the following useful serial commands in the Code text box:

* move Bittle's head (move joint angle)

m0 45

* move head left and right (move joint1 angle1 joint2 angle2 .... The angle is -127~128)

m0 -70 0 70

* sit

ksit

* move joints one by one

m 0 -70 0 70 8 -30

* MOVE joints simultaneously

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.

* show current joint angles

j

* long meow once (Nybble)

u0 1

* short meow three times (Nybble)

u2 20

* mute/unmute the buzzer beep

b

* adjust the buzzer volume (b[0-10])

b1

* play a short tone (beep tone duration, duration is 0~256)

b12 20

* play a melody (beep tone1 duration1, tone2 duration2, tone3 duration3, .... only 64 characters are allowed, the actual duration is calculated as 1/duration)

b14 4 14 4 21 4 21 4

More common commands to be added

Import new skills as a customized button

You can send the skill file to your phone using Messenger or email and open the file on the phone using the Petoi App. A button will be created for the new skill; you can see it when you open the control panel.

Import new skills from the skill library on GitHub

Create a group command

The group command feature lets you chain multiple commands together and play them in sequence.

After pressing the Create Group Command button, you can see the following interface:

You can name the command group in the Name text box and add the command to the Command Group list by clicking the command button in the Command Library selection box. In the Command Group list, you can press and hold the command button and drag to change the command position.

Click the Delete button to Delete the group command.

Make your robot act randomly

Updates and support

We keep improving the app and will inform you of the updates when available. Please write to support@petoi.com if you have any questions about the app.

Please see that may be added as customized commands. You can enter the "Voice command" column values as the "Name" values and the "Customized command code for Petoi mobile app" column values as the "Code" values.

A more detailed command table can be found in the .

Import your local customized skill (created by the )

in Github contains new skills for the OpenCat robot, which can be used for your reference. You can use your mobile browser to access the GitHub page of the OpenCat project, open the skill file (such as ), select the "Code" tab, and share it with (make sure the mobile app is connected to your Petoi robot first), as shown in the figures below. Then you can execute this skill by pressing the newly created command button.

On the iOS device, you may not share the .md skill file on the Github via the Chrome browser. You can download the skill file and refer to the method - to import it to this smartphone app.

You are welcome to create your new skills( or ) and share them by sending merge requests to .

Click the Test or Play () button to test the function of the command group. click the Pause () button to interrupt the command list execution flow.

If your robot doesn't have any random behavior, you may need to upgrade your robot to .

this list of common commands
Serial Protocol
Skill Composer
The SkillLibrary folder
Bittle_Fold.md
Petoi Mobile App
using the Skill Composer
modifying the source code
this folder
the latest firmware
Import your local customized skill