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Controller

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

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 lite 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
* 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
Available commands to be added
Please see this list of common commands 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 Serial Protocol. 
​The SkillLibrary folder in Github is a collection of new skills of 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 Bittle_Fold.md), and share it with the mobile application Petoi, as shown in the figures below. You can execute this skill by pressing the command button.
You are also welcome to share your new skills by sending merge requests to this folder.
Create a group command
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 Test or Play (
) button to test the function of the command group. click the Pause (
) button to interrupt the command list execution flow.
Click the Delete button to Delete the group command.
Updates and support
We keep improving the app and will inform you of the updates when available. Please write to [email protected] if you have any questions about the app. 
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