Freenove ESP32 User Manual

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Chapter 12 Basic Motion
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//The whole body goes up and down.
for (int i = 0; i < repeatCounts; i++) {
setBodyHeight(BODY_HEIGHT_MIN);
delay(200);
setBodyHeight(BODY_HEIGHT_MAX);
delay(200);
}
//Move forward (10*10)mm in the positive direction of the x axis
for (int i = 0; i < 10; i++) {
move_any(0, 10, 0);
}
//Move back (10*10)mm in the positive direction of the x axis
for (int i = 0; i < 10; i++) {
move_any(0, -10, 0);
}
//Control the robot dog to sit down and disable all servoes to reduce power consumption
setBodyHeight(BODY_HEIGHT_MIN);
pca.releaseAllServo();
}
void loop() {
delay(10000);
}
Before controlling the robot dog to make various actions, you need to initialize the robot dog first, and get
the calibration data of the servos from NVS If your robot dog has not been calibrated, please navigate back
to Chapter 2 to calibrate the robot dog first.
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prefs.begin(NMSPC_STORAGE);
pca.begin();
pca.releaseAllServo();
getServoOffsetFromStorage();
The robot dog action speed setting function, with the parameter ranging from 1 to 8. The larger the value,
the faster the robot dog.
void setMoveSpeed(int spd);
The robot dog twisting function. By modifying different parameters, you can make the robot dog perform
various body twisting movements.
void twist_any(int alpha, int beta, int gama);
Robot dog movement function, by modifying the parameters, control the robot dog to go forward at any
direction, any step length, any rotation Angle, and any speed.
* @brief Walk command, any direction, any step length, any spin angle, any speed
*

Freenove ESP32 Specifications

General

Clock Speed	240 MHz
RAM	520 KB SRAM
Wi-Fi	802.11 b/g/n
UART	3
Operating Voltage	3.3V
Input Voltage	5V
DC Current per I/O Pin	40mA
USB	Micro USB
Microcontroller	ESP32
Chip	ESP32
Bluetooth	Bluetooth v4.2 BR/EDR and BLE standard
ADC Channels/Analog Input Pins	18
I2C	Yes
SPI	Yes
Interfaces	I2C, SPI, UART
CPU	Dual-Core 32-bit LX6 Microprocessor

Summary

Safety and Precautions

General Safety Guidelines

Outlines crucial safety measures for handling and using the robot kit to prevent injury or damage.

Hardware Components

ESP32 Expansion Board and Modules

Details the ESP32 expansion board, ESP32 module, camera, and other electronic components.

Mechanical Parts and Tools

Lists acrylic parts, servos, screws, nuts, standoffs, and necessary tools for assembly.

Software and Firmware Setup

CH340 Driver and Firmware Installation

Guides on installing the CH340 driver and burning firmware for OS.

Freenove App and Arduino IDE Setup

Covers installing the Freenove app and setting up the Arduino IDE environment.

ESP32 Pin Configuration

Details ESP32 pins, their functions, and descriptions for robot connectivity.

Robot Assembly and Calibration

Step-by-Step Assembly Guide

Details the process of assembling the robot's body, legs, head, and wiring.

Servo Wiring and Calibration

Guides on connecting ESP32, batteries, servos, and performing robot calibration.

Robot Functionality and Control

Freenove App Features

Overviews app features like Wi-Fi config, LED control, and interaction.

Ultrasonic Ranging and Motion Control

Explains ultrasonic sensor and provides code for robot movements.

Communication Protocols and Commands

Explains communication commands via Serial, BLE, Wi-Fi, and development aspects.