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About Backflip
My bittle is having trouble with backflips. He doesn't seem to jump high enough. This may be due to an old battery, but is there a way to fix this programmatically?
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Stop head from falling off...
Hello!
I appreciate that the head connection for the Bittle has been designed so that the head pops off before damage occurs. This is great design but on both my Bittle X the head pops off almost every time the dog goes up side down and flips back to the standing position. For my workshops this is not ideal as every minute a kid comes running to ask me to fix the head. Do you have any good suggestion apart from super glueing the connection to make it less likely that the head comes off?
Thanks,
Michael
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Rongzhong Li
7 days ago
Have you tried these structure?
https://github.com/PetoiCamp/NonCodeFiles/tree/master/stl/Bittle%20%26%20BittleX/BittleNeckLock
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PETOI Bittle X - additional servo's
Hello, I am trying to connect a hacked 5V servo to the petoi bittle x. How can I achieve this? I've tried plugging it in to the 2 TX ports on the grove bord and adding servos in the src arduino folder, but it does not work. Does anyone have experience with this
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Rongzhong Li
Dec 15
What's the type of the servo? Is it PWM or serial servo?
If it's a regular PWM servo, you can plug it in the unused PWM servo pin. There are 12 PWM servo pins and only 11 are used. However, the servo pins are powerd at 8.4V, so you will need to add a voltage divider.
Alternatively, you could use the Tx2 pin. But you will need to modify the PWM pin declaration in OpenCat.h. Then in the controlling part, call jointIndex 3 to control it.
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initialisation issue
I have rebuilt my opencat on an arduino Uno with I2C PWM, MPU and Eeprom. my former build had issues with wrong servos somehow. all the individual tests of modules are doing fine. but when I upload the main Opencat.ino. I have problems that the initialisation is stuck in a loop.
if I commect out MAIN_Sketch, after pressing Y for resetting the joints, it will jump to saving the skills, prompt Servo:25.00 and then a big bunch of lines stating only IMU, then the message: * Change model and board names in OpenCat.ino! and start from the beginning.
if I uncomment MAIN_Sketch, I get the prompt: Start , Nybble, N_250916 and again an bunch of lines with IMU and the loop back again to start,...ect.
Pretty sure this is some stupid small thing, but I please help.
thanks
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Jason
Dec 15
Due to the flash size of ATMEGA328P, it needs two rounds of uploading:
Upload the configuration mode sketch
Upload the major functionalities sketch For more details, please refer to: https://docs.petoi.com/arduino-ide/upload-sketch-for-nyboard#upload
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We have been doing a family competition launching toy balls with the BittleX + ARM.
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Amit Banerjee
Nov 29
You can find more of our work with Bittle and Nybble robots at https://www.learnwitharobot.com/t/bittle
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Call me Grandpa Gray
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compiling MPU6050 problems
Hi, I am trying to run the OpenCat software on a pure Arduino Nano, but I don't even get the software compiled in the IDE before uploading. I get a whole page of errors concerning the MPU6050.h and MPU6050.cpp files saying that the code does not comply with c++ rules and so on. can anybody point me in the right direction here? thanks.
sorry if this is the wrong forum thread .
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Marin Schouten
Nov 01
well I get the same messages as dr. Rongzhong showed above. but I understand that this are warnings that can be ignored. in the mean time, I have uploaded the code to an Arduino UNO succesfully. Although the PCA9865 calibration with PWM 8 to A3 (or PWM3 to A3) does not finish.
when I do install the main_skecth, I do get messages on the serial port and can send commands. But unfortunately, the servos seem to be not working correctly. with the ksit command, my cat tries to strangle himself by turning the neck 360 degrees and the rear left thighis going all the way back. some kind of yoga I suppose...
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Error 1006 when connecting to Wifi
When trying to connect to Bittle X over WiFi with ProgramBlockly in the most recent version, I get the following error messages:
[WebSocket] Connection closed 1006
Reconnect] Attempting to reconnect (2/5)... (delay: 1000ms)
QuickConnect seems to find and store the connection but then the connection keeps closing. Also, pressing the boot key no longer counts down 10 to open a hotspot so the web page connection method doesn't work any longer.
I tried an older version from July and it works OK.
Anyone else seeing this issue?
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Jason
Oct 16
Please try the latest code on the redesinWeb branch. https://github.com/PetoiCamp/OpenCatEsp32-Quadruped-Robot/tree/redesignWeb
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Mujoco Simulator With Bittle
I thought I'd share a project I've recently done with Bittle in case anyone is interested in exploring simulation with Bittle in a non reinforcement learning application, although one could also use Mujoco for reinforcement learning also.
I used the URDF created for Bittle here. AIWintermuteAI made the URDF files for Bittle a while back, which was a great starting point to get a model of Bittle into the Mujoco simulator made by google deepmind.
My project aimed to use model predictive control (MPC) to generate optimal gait patterns to run open loop on the Bittle robot. The first step was to get a model into the simulator. To do this, I converted the URDF model to XML format for the simulator. Then I created the environment and configuration to use Mujoco Model Predictive Control (MJPC) with Bittle. MJPC was also developed by google deepmind.
MJPC effectively performs forward rollout…
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Rongzhong Li
May 15
Yes, it's the exact model of our production model. The previous one was reverse engineered by our users.
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Backflip is among the most difficult tricks that requires high precision in control and assembling. Some failures are due to bad joint calibration, some are due to an aged battery, etc. Could you send a video to show the backflip movements?