Petoi Doc Center


Use the control panel

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.

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 buttons

You can also define customized commands by pressing the "+" button. Press and hold the button and drag to change the button position. Double-click the command button to edit it. After entering the editing state, there's a lite serial console to test the command and even configure the robot.
Custom commands to try:

* move 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


* move joints one by one

m 0 -70 0 70 8 -30

* MOVE joints simutanuosly

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


* long meow once

u0 1

* short meow three times

u2 20

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

b12 100

* 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
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 and use (after downloading, you can save a single skill to the robot’s memory through the Petoi desktop application -> Skill Composer and then use the Customized buttons. Give the command a name in the "Name" text box (such as "Summon New Skill"), enter "T" in the "Code" text box, and save it. Click this function button to view the effect of the imported skill action ).
You are also welcome to share your new skills by sending merge requests to this folder.

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.