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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:
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
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