- Recover the skillName stored in newCmd array because the newCmd's memory is altered when formatting new skill data.
- Fix the segfault caused by different string terminators: '\0', '\n', or '~'.
- Fix the casting between int, char, and int8_t in the template function arrayNCPY().
- When turning a joint instruction into a new posture, allow large joint angles to be stored into an int8_t array.
- Fix the positive feedback when gyro data is combined into targetAngles.
- SkillComposer: Disable the Gyro and Random buttons.
- ardSerial: Simplify the slicing algorithm when sending long commands.
- Differentiate the serial timeout for long commands over Bluetooth.
- Simplify some skills to save memory.
- Safer auto-connection algorithm when trying to connect to a camera that's not connected to any alternative addresses.
- Mobile app: Find the optimal delay between the mobile app's package slices to avoid overflow or timeout on the mainboard.
- Add a token 'S' to toggle on/off the boot-up melody.
- Add a macro to inverse the servo's rotation directions.
- Allow the robot to detect the falling-over event and recover even in turbo mode.
- Desktop App: Add traditional Chinese and German translations.
- Combine the newCmd array used for receiving different kinds(ASCII/Binary, long/short) of serial commands.
- Simplify the token cases into upper/lower letters for Binary/ASCII encodings.
- Shift the skill angle data to the end of the newCmd array. It allows new incoming messages to be stored at the beginning of the newCmd array while keeping the skill angles unchanged so that the previous skill can resume after finishing the current non-skill command.
- It now supports much longer commands and skills, such as a behavior with 23 frames (23 * 20 + 7 = 467 bytes), a gait with (467-4)/8 = 57 frames or a long melody with 467/2 = 233 notes. On BiBoard, it supports a behavior with 125 frames (125 * 20 + 7 = 2507 bytes), a gait with (2507-4)/8 = 312 frames or a long melody with 2507/2 = 1253 notes.
- Overflow protection when the incoming message is longer than the size of newCmd to avoid a crash.
- Redesign the voice commands table and their encodings.
- Add an alias skill "up" for "balance" to save memory and convenience.
- Move the keys of the customized voice commands to PROGMEM.
- Add new skills:
| New Skill Name |
Serial Code |
| hug |
khg |
| handstand |
khdsd |
| hands up |
khu |
| handshake |
khsk |
| sniff |
ksnf |
| dig |
kdg |
| scratch |
kscrh |
| be table |
ktbl |
| boxing |
kbx |
| kick |
kkc |
| come here |
kcmh |
| high five |
kfiv |
| jump |
kjmp |
- With so many new skills saved to the I2C EEPROM, fix the overflow (wrapped overwriting) when a long 'K' skill data is written to the nearly full memory.
- 'T' token is used to extract the last transferred skill data. Fixed the segfault when a newly configured board has never received a 'K' command but is required to read from an unknown memory.
- Unbind the free joints' motion during walking and keep balancing reaction after the i,I,m,M commands. The free joints are unrelated to walking and balancing. By default, they move by trigonometric functions synced with the legs' pace. If a command requires specific joint movement, it will be unbound and taken over by the higher-level controller. Using the token 'i' or 'I' without more argument will re-bind them to the legs' motion.
When sending joint instructions, the rules are:
|
All are free joints (head, tail, etc.) |
Contain joints related to walking |
| Gait |
move in perform() => gait |
move in tranform() => convert to a new posture |
| Posture |
move in perform() => posture |
move in tranform() => convert to a new posture |
| Non-skill |
move in transform() => lastToken |
move in tranform() => convert to a new posture => lastToken |
- Allow explicitly assigning directions of skills. Only the neutral and the leftward skills are stored in the skill table with the suffix -F (only for gaits), -L, or no capitalized letter in the key. Previously all skills are called with random directions, except the gaits.
Let Name be the skill's name. The new rules are:
|
Match? |
Mirror it? |
| gaitF |
All characters |
N |
| nameL |
All characters |
N |
| nameR |
the first n-1 chars |
Mirror nameL |
| name |
All characters |
Random |
| nameX |
All characters |
Random |
- Debug the creation, pop, and deletion of TaskQueue for safer and more efficient memory management. Optimize the corresponding examples for light, touch, pir, gesture, camera, and voice sensors.
- Allow controlling head group while walking.
- Solve serial overflow.
- Add random skill command: kx. It can call a random skill in the preset skill list.
- Add macros to disable some unused tokens to save space.
- Improve the serial read logics.
- Print software version on boot up.
- Add demos for pir, touch, light modules.
- Allow sending long (450 bytes or 225 notes) melody over the serial port.
- Support Petoi voice commander module.
- Support importing skill data to the Petoi phone app (V1.0.5) to create a customized button.
- Move the detailed initialization steps to src/OpenCat.h -> initRobot().
- Soft joint startup if the servo has the feature
- Improve the BLE connection logics
- Optimized the power saver logics: random mind after idle, then go to rest.
- Avoid servo jumps caused by shutServo()
- Mirror the leftward gaits for rightward gaits to save space.
- Update token system: i->I, M->i, l->L
- Add QA routine for EEPROM, IMU, and IR.
- Add token 'R' to soft-reboot and enter reset routine.
- Support IOS Ble app.
- Correct the angle range of m token (use int instead of int8_t).
- Correct an error when reading commands. The remaining serial commands should be checked within the token's available condition.
- Change skillList to a pointer and init it in setup().
- Correct the lastCmd/newCmd logic of the initial posture.
- Add macro for GYRO.
- Make the robot enter the joint calibration state (different from initialization) if it is upside down. Otherwise, start up normally.
- Reduce the odds of random noise when shutDown servos by detaching them then re-attach.
- Improve the sound for falling over.
- Set the bootup posture to calibrate state, for convenient installation. Disable gyro and auto behavior until first user input.
- Optimize servo angle range.
- Merge the token FOLD with regular skills.
- Tune the pee, hi, and balance skills.
- Optimize low battery checking logic. Safely transform to rest posture then shut the servos.
- Tune LED.
- Tune adjustment damper.
- Remove the delay between postures.
- Add special sound for falling over.
- Add a 'v' token to print the MPU for once and a 'V' token to print the MPU for every loop.
- Fix a bug when reading IMU acceleration data.
- Add comments the difference between REAL_ACCELERATION and WORLD_ACCELERATION.
- Correct the servos' joint angle range.
- Add a low voltage alarm for BiBoard2.
- Make NeoPixel blink with motion for BiBoard2.
- Add T_PRINT_GYRO 'V' to toggle printing of Gyro data.
- Merge PCA9685 PWM driver in the main code to be activated with proper macro.
- BiBoard2 works!
- Implement writeAngle() outside the Petoi_PWMServoDriver Class.
- Fix the infinite loop of "play dead - recover" and "m (or other non-skill token) - recover".
- Use hardware PWM tone library to generate beep and improved the music quality.
- Create a token 'z' to turn on/off the power saver and random behaviors.
- Create a token 'r' to change the adaption directions on a ramp.
- Define fold and rotate behavior for cub.
- Add I2C detector and macro for IR.
- Write the log up-to-date.
- Restructure T_SKILL reaction to simplify the control flow.
- Fix bug in power saver.
- Improve power saver and randomMind logics.
- Fix adjustment jump in recovery routine.
- Robot resume previous status after recovery.
- Study ESP32 timer for PWM. Find the limitation for servo frequency.
- Add a random behavior generator when the robot is idle. The list can be predefined and support all kinds of tokens.
- Fixed the bug of allocating large skill data array by redesigning the Skill class.
- Add a new melody for the initialization stage.
- Add a power saver to bring the robot to rest after being idle for 15 seconds.
- Try to locate the bug with a large memory operation for T_SKILL_DATA.
- Add a new token, T_SKILL_DATA, to receive the skill data from the serial port in real-time and perform the skill locally to avoid the overhead of communication or slow compiling and uploading in Arduino IDE. Compatible with all three types of skills.
- Support the 12 DOF model. The code works on Nybble, Bittle, and the 12 DOF model by changing a single macro definition.
- Enum Petoi models of servos and updated the initializer for servos.
- Automatically set the Bluetooth device name for the three models.
- Generate a finer gait for Nybble, and adjust the code for Nybble with additional head and tail joints.
- Fix the jig when changing from gait to posture by resetting the frame number.
- Add a damper after a long behavior to reduce the jump in the balancing adjustment value.
- Make the head and tail joint work to support Nybble.
- Add a macro to go through the initialization stage automatically.
- Add a tag to fix the problem when Bluetooth instructions are skipped in the main program due to multi-processor synchronization.
- Add multiple serial printing methods to support the Bluetooth app.
- Generate the Bluetooth device name with two random Hex numbers at initialization and save it to EEPROM. The name won't change unless the board's "birthmark" is changed.
- Improve the EEPROM I/O functions.
- Fix the bug with 'p' and 'g' tokens.
- Add ESP32config instructions to fix the MPU6050 lock.
- Write I/O for the App in the main code.
- BLE connects to the App.
- Write a skill to climb up a steel table with magnets.
- Write a generic routine to fix the bug with the large String buffer for 'i' and 'l' tokens.
- Fix the indexing bug when changing walking DOF on the 12 PWM board.
- Write the macro to automatically decide WALING_DOF and DOF with different combinations of models and boards.
- Fail to run the MP3 demo due to the upgrade from ESP 1.0 to 2.0.
- Tune the char string style of cmd.
- Tune motion adjustment parameters.
- Structure multiple modules' libraries for the whole project.
- Adjust the servo library to fix the PWM channel conflict!
- Locate the cause of detached servos
- Add a mirror function to flip the left/right side of movements randomly.
- Investigate the relationship between the PWM channel and detached servos.
- Move dependent libraries into the project folder to help new users.
- Add calibration routine for MPU6050 and save the offsets in EEPROM during initialization.
- Add a "birthmark" to know if a board has been initialized so that it will boot up directly next time.
- Solve the detached servo problem by re-attaching the corresponding channels to continue other parts.
- Joint calibration routine works.
- MPU works but without calibration.
- Fix the bug when switching to behaviors by correcting the servo indexes on a 12 PWM board.
- Behavior partially works.
- Add a boolean to check if IMU is updated and decide if to recalculate the balancing adjustment values.
- Improve the code and demo's doc for serialMaster.
- Fix the esp32-hal-i2c-slave.c bug that locks IMU at booting stage.