For this library, the bluetooth dongle works better, I have tested it way more times than the wifi one

@Shane Gingell it also works if you connect Bittle via USB, check the documentation (on gitbook) to see some examples

awesome, thanks ps: wow, I didn't though of automating the activation of sensors code block depending on whether its connected or not

@Rongzhong Li The controller can be connected to Bittle through Bluetooth using the computer as intermediary (just like the GIF in the OP). There are two possible ways to connect the controller directly to Bittle: Attach a Raspberry Pi to Bittle and run the XboxController script from there (the controller would connect to the Raspberry Pi and it would send the commands to Bittle). Modify Bittle code to act as master (to pair the controller) and to process the controller inputs.

The timer condition was the key, thank you!

I have updated the code to make use of pyBittle v1.1.3 and allow controlling Bittle through serial communication, no WiFi nor Bluetooth modules are needed anymore.

Maybe it could be a great idea to add comented/disabled code for some of the most popular sensors in the official Bittle code so its usage would be standarized and common for most users (because I had to choose how to represent the measured data in Serial communication, if someone wants to use it, he/she will have to adapt his/her Bittle code to my solution; a common code for us would simpilfy this, making third parties features easier to use and implement). Also, you know better than anyone how to optimize this kind of measurement and outputting through serial communication.

What I managed to do is this:

I haven't had much time since pyBittle v1.1.3 was released (which adds the possibility to control Bittle through serial), once I have some free time this week I will update the projects that make uses of pyBittle

I managed to make pybluez works on Windows 10 following these instructions: https://pybluez.github.io/, so controlling Bittle through Bluetooth fromWindows is possible too!

Here you have plenty of info about those sensors and how to use them on Bittle: https://www.yuque.com/tinkergen-help-en/bittle_course/sensor_pack_lesson_1

I just uploaded version v1.1.3, these are the changes: • Added BUNNY, BACKFLIP, SLEEP and CHECKAROUND commands. • Added serialManager module and related example codes. • Added SerialManager instance to bittleManager module. • Parameters removed from constructors. • Typo correction. Tested on Windows 10. Link: https://github.com/EnriqueMoran/pyBittle/releases/tag/V1.1.3 Documentation: https://enriquemoran95.gitbook.io/pybittle/

Alright, I think I found something, unfortunately, my knowledge at this low level programming is very limited and don't know how to proceed. What I did was try to print Serial data to check where was the problem on Bittle's side (as WiFi dongle sends commands through serial correctly so far). I added the following prints: So I did the following: • Connect the WiFi dongle to USB programmer • Connect the USB programmer to Bittle • Turn on Bittle And I got this: It seems that Bittle is reading a wrong value through Serial communication. This value is taken as a skill and seems to block Bittle. After this, if I send commands through he API, nothing is shown on Serial monitor. I think I can't make any more progress by myself as I don't know what this 240 value means and how to prevent it correctly. PS: I tried this twice and got the same result.

@Rongzhong Li not really, what I mean is the reason there were some weird characters shown in Serial monitor was that I had the baud rate set to 9600, but the original problem (commands not being executed on Bittle) still persist. I've done some testing and found that the wifi dongle is aparently receiving commands and sending them through serial correctly, so the bug must be on Bittle's side

You can check how commands are processed here: https://github.com/PetoiCamp/OpenCat/blob/b9e8a24c1ce3ad956e6b16ef613a219cd560277a/WriteInstinct/OpenCat.h (from line 160) This is a dict with available commands too (ignore the keys, only the values are important for your question): self._commands= { # Command : message to Bittle Command.REST: 'd', Command.FORWARD: 'F', Command.GYRO: 'g', Command.LEFT: 'L', Command.BALANCE: 'kbalance', Command.RIGHT: 'R', Command.SHUTDOWN: 'z', Command.BACKWARD: 'B', Command.CALIBRATION: 'c', Command.STEP: 'kvt', Command.CRAWL: 'kcr', Command.WALK: 'kwk', Command.TROT: 'ktr', Command.LOOKUP: 'klu', Command.BUTTUP: 'kbuttUp', Command.RUN: 'krn', Command.BOUND: 'kbd', Command.GREETING: 'khi', Command.PUSHUP: 'kpu', Command.PEE: 'kpee', Command.STRETCH: 'kstr', Command.SIT: 'ksit', Command.ZERO: 'kzero' } For movement commands, you have to build the whole command (gait + direction), e.g, trot forward -> ktrF, run forward left -> krnL, as far as I know, for backward movement you must use 'kbk' + direction

Alright, so the problem that caused serial monitor to show those weird characters was a wrong baud rate (it should be 115200)

I'd say you don't need ROS for that, programming the functionalities on your rpi and communicating with Bittle should be enough. Using ROS might be more suitable, but as you said you aren't a software developer, it can be kinda difficult to use

I was going to start debugging to try to fix (or at least identify) what is wrong, but I found my Bittle isn't receiving/processing commands (through wifi) anymore. This is shown when I boot up Bittle: Then I tried to send some commands (as you can see, the rest api website is up and can receive commands): Notice how Bittle behaves when I turn it upside down (its left leg wont end in the correct position): This is what was shown in Serial monitor: I don't know if what I posted can help you to identify what could be causing the problem

I wait 30 seconds just to make sure I let enough time for Bittle and the WiFi dongle to start up, in my case it happens too often which makes using the WiFi dongle impractical.

Thank you, it took me a while to create and test it. I'll be posting here the future projects I plan to develop using the library