Do you have a Bittle robot with the BiBoard? Is so, are you interested in knowing more about how the OpenCatEsp32 source code works? Do you want to modify that source code to make this Bittle robot do things that are not currently possible? Speaking for myself, "I do, I am and yes already!".
To facilitate my own understanding and those of like-minded hobbyists, I created the attached "OpenCatEsp32 Code Walkthrough for the Bittle with BiBoard" slide deck. It is longish work (currently nearly 70 slides) that covers, at a relatively high level, the workings of this source code. Hopefully that means there is something useful for you, regardless of your background.
To be clear, all opinions, observations, and assertions are my own, as are any mistakes. Although I cannot make any promises, it is my desire to periodically update this code walkthrough, both to correct any mistakes and to make updates as the source code evolves. Therefore, please reply to this post with any suggestions or corrections you may have regarding this code walkthrough.
Special thanks go to the Petoi team for insightful software discussions along this "path" to understanding!
This write up is incredible. Thank you @este este for your work.