Freenove ESP32 User Manual

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Development
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Development
Code Repository
The main purpose of this tutorial is to explain how to assemble and use the robot dog. If you want to learn
more about the code, please visit:
https://github.com/Freenove/Freenove_ESP32_Dog_Firmware
There is a more detailed explanation of the code in the code repository, please download and learn by yourself.
Communication Command
If you do not want to understand the underlying code of the robot dog, but want to develop a control
platform software for the robot dog, you can refer to the following communication commands, which
explain each control command of the robot dog in detail.
Ways of Communication
The robot support three ways of communication, namely, serial port, Bluetooth Low Energy (BLE) and TCP
Socket communication, as follows:
Ways
Description
Serial Port
Baud rate 115200
BLE
Bluetooth GATT
TCP Socket
Port 5000 is the command transmission port, and port 8000 is the video transmission
port.
Note: All commands are valid once they are sent. It is recommended not to send too many commands
repeatedly in a short period as the processing capacity of the robot dog is limited. All commands only need
to be sent once.
Communication Command Format
1. Each command consists of four parts: command word, delimiter, parameter and terminator, among
which, the number of command word is one and the parameters is variable, from 0 to n, depending on
the specific command.
A. The first character of each command is the command word, used to distinguish the major category
of the command, such as "A".
B. The character "#" is the delimiter between the command word and the parameter, used to separate
the string.
C. Each command is terminated with "\n", which is used to separate each command.
Example: “A#10#20#30#40#50#\n”
2. Parse of Commands

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.