Rongzhong Li
Rongzhong Li
I'm shrinking the bytes of code by using abbreviations for different gaits. - bd: bound - tr: trot - wk: walk - cr: crawl - bk: back - L/R means...
A brief flowchart of the program is described in [sketch structure](https://github.com/borntoleave/catMini/blob/master/Images/sketchFlow.png). Previously all of the codes were on Raspberry Pi. The ideal control flow is described in [control hierarchy](https://github.com/borntoleave/catMini/blob/master/Images/controlHierarchy.png). After...
I started with static walking modes without adjustments for accelerometer/gyro data. They are generated by using reverse kinematics. The outputs are gradually changed frames of servo angles. The robot can...
The table stores angle data in degrees. The range is between -128~127, same as the range of one byte. Zero angle position is defined at the calibration stage. I’m skipping...
Gaits are periodical movements of limbs. The limb movements are divided to frames with short time intervals. Each frame defines the joints' angles and will be converted to PWM signals...
As I'm trying to keep the code compatible with the full version (it will use up 100% of system resources), I'm shrinking down a lot of separate declarations. Those numbers...
Neat! Thank you!
Hi, please download the latest OpenCat firmware on GitHub and upload it to your Bittle. I just optimized the overall stability of the serial communication. You can refer to the...
It depends. Serial communication will have a short timeout delay, so the motion may become laggy. On Mon, Feb 13, 2023 at 5:16 AM Sam Lerman ***@***.***> wrote: > Is...