I haven't seen that but I'm sure @Rongzhong Li will have some good advice.

Glad to hear that you got Bittle put together but sad that you are having difficulty. Since you assembled Bittle yourself, calibration is mandatory. Please check out these calibration related pages below. Once calibrated, try again and post here with the result. 😎 https://bittle.petoi.com/6-calibration https://docs.petoi.com/joint-calibration https://docs.petoi.com/desktop-app/joint-calibrator https://docs.petoi.com/mobile-app/calibrator

Guess that page needs an update! 🙂 👍

The following page has a picture with labels of what is included for Nybble. If you don't see that item there, post a picture of it. 😎 https://nybble.petoi.com/chapter2

Nice! Thanks for sharing!

Can't speak to most of your questions except to say that USB-to-USB is your best bet since that gives you access to the bootloader on the BiBoard. I'm curious though, what's your use case - why would you like the attached Raspi to be able to replace the code on the robot?

As you know, that setting is for a V1_0 BiBoard. What does your BiBoard look like? The V1_0 looks like this:

Love it! 😍 Thanks for sharing the video and your repo!

Wow, looks like Bittle pulled an all-nighter and is now falling asleep in class! 😧 Seriously, I agree that it does look to me like the servos are shutting down until, as you said, the gyro code kicks in to try and return them to their original position. Do the servos get warm during this sequence?

Good question. The code does call shutServos() after behaviors but I don't think it does this after most postures like "kup" ("kcalib" being an exception) so I would think that the servos should stay energized during most postures. What posture were you using? So, assuming the servos are still energized, we would then need to know the static and dynamic torque rating for the servos to see if they are being over matched. Anyone know those specifications?

I don't know but it does sound like a good research project for someone....

Have you looked at the OpenMV camera boards? You code in MicroPython and can fork the source code from GitHub (https://github.com/openmv ) if that meets your needs.

Awhile back I posted a "BiBoard V0 Servo-to-Pin Map". It can be found here: https://www.petoi.camp/forum/basic-assembly-and-setup/biboard-v0-servo-to-pin-map The key is to match the servo number with the pin number to see if it is wired correctly. Perhaps update your photo with the servo numbers (trace the wires back to confirm they go where they should go). Update 1: You can also move Bittle to the "calilb" posture by sending "k calib" (spaces are now allowed between the token and the parameters that follow) then check each servo one at a time by sending "i . E.g. sending "i 8 25" moves servo #8 (left front shoulder joint servo) to 25 degrees. See this link for where the joint servo "zero" angle positions are in the "calib" posture: https://docs.petoi.com/joint-calibration#the-logic-behind-calibration-is

Agreed!

The Skill Composer relies on the OpenCatEsp32 software (https://github.com/PetoiCamp/OpenCatEsp32) being compiled and installed on the BiBoard, but it might be possible side-load MicroPython using the info found here. However, I don't know of anyone who has tried this (yet!). 😎 Update: I just checked and the ESP32 module (found on the BiBoard) is not one of the listed modules where this "trick" has been successful.

Actually, you can have as many versions of the Arduino IDE as you want in Windows and Linux. The zip file unzips to a folder with the executable and supporting files. See https://docs.arduino.cc/software/ide-v1/tutorials/PortableIDE/. I have both Arduino IDE 2.2.1 and Arduino IDE 1.8.19 on my Windows laptop. In order to have a modern coding experience, IMO the way to go is using Visual Studio and the Visual Micro extension (https://www.visualmicro.com/ ). Visual Studio Community is free for academic instruction/research, hobby use and open source software development. Visual Micro has an inexpensive student/hobby license. It is a great combination, way better than any version of the Arduino IDE and what I use for most of my work. As @Rongzhong Li has pointed out, one can also use VS Code with the Arduino extension both of which are free. VS is a heavyweight full IDE whereas VS Code is lightweight code editor and which one to use is a matter of individual needs and preferences but, IMO, they both are better than the Arduino IDE. The ESP SDK is more problematic since there is a tighter connection between the ESP SDK version and the hardware version of ESP32 module in the BiBoard(s) that are in customers hands. There is an opportunity cost to adding the latest Arduino IDE / ESP SDK support, namely the cost of not getting new robot hardware and software capabilities as quickly. Still, it is a worthy goal.

Sorry to hear of these difficulties. What version of Windows are you using? I know this works in Win 10. Regarding the request pairing code, sometimes I see the following in the Windows "Add a device" screen where there are both SSP and BLE entries for the BiBoard. I only click on the "SSP" entry. When I have clicked on the BLE entry, it sometimes works but sometimes I get a pairing code request which, for me at least, always fails. Note that SSP stands for Simple Secure Pairing (an alternative to using pairing code requests). Don't confuse it with SPP, the Serial Port Profile communication. Regarding your not-silly question, SPP just creates a serial port over Bluetooth so all the serial port rules apply, as if there is an old fashioned serial cable attached to the BiBoard. This means serial parameters like baud rate, data bits, parity, stop bits, and handshake must be specified. I am using these settings: * baud rate = 115200 * data bits = 8 * parity = none * stop bits = 1 * handshake = none

No heartbeat. Furthermore, unless you make the source code change I indicated, you will not see any of the readbacks that the BiBoard sends back after a command during serial communication. But a skill command like "ksit" will work, as in Bittle will move appropriately so you should observe the success of sending such a command. If you have access to a Windows PC, I do recommend you try that first. Upon success there, I also recommend you take good notes and screenshots when you then repeat the effort with the Mac to help us document the process there. 😀

What type of computer are you using to communicate with the BiBoard. I am using Bluetooth SPP on an Windows PC. Bluetooth SPP may be problematic if you are using an iOS phone or tablet (see here). I believe Bluetooth SPP connections work on a Mac but I don't have access to one to test.

Glad I could help! Post again if you have any difficulties. 😎