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

Brand	Freenove
Model	ESP32
Category	Computer Hardware
Language	English