Freenove ESP32 User Manual

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Development
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Explanation of Communication Protocol Instructions
ACTION_UP_DOWN
Control the robot to stand up or lie down with one parameter. When lying down, the servos will be unloaded
to reduce battery power consumption
App command
Action
A#0#\n
Switch between standing up and lying down
A#1#\n
Stand up
A#2#\n
Lie down
No return,
ACTION_BODY_HEIGHT
Set the robot dog's body to any height. This function has not been added to the app yet, but the robot dog
can receive this command.
App command
Action
B#50#\n
Make the robot stand up and set the height to 50 cm.
ACTION_RGB
Set the running mode and color of the LEDs on the robot dog.
App command
Action
C#mode#red#green#blue#\n
Set the RGB LEDs to “mode” mode and specify the color values of
the three channels（0-255）
C#1#255#0#0#\n
The value range and meaning of
mode, among which, in modes 2 and
5, the color cannot be changed. The
parameters can be any value in the
range of 0-255.
#define LED_MODE_OFF 0
#define LED_MODE_RGB 1
#define LED_MODE_FOLLOWING 2
#define LED_MODE_BLINK 3
#define LED_MODE_BREATHING 4
#define LED_MODE_RAINBOW 5
Introduction to “mode” function
Macro Definition
Parameter
Description
LED_MODE_OFF
0
Turn OFF LEDs
LED_MODE_RGB
1
Static LEDs display. Color and brightness can be adjusted through
the parameters.
LED_MODE_FOLLOWING
2
The LEDs alternately display four colors of red, green, yellow and
blue.
LED_MODE_BLINK
3
LEDs blink. Color and brightness can be adjusted through the
parameters.
LED_MODE_BREATHING
4
LEDs ON and OFF like breathing. Color and brightness can be
adjusted through the parameters.
LED_MODE_RAINBOW
5
LEDs show the color of rainbow and change slowly.

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.