Freenove ESP32 User Manual

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Development
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G#100#\n
The camera works fine, not need to process.
G#101#\n
The camera is malfunctioned, prompting via Toast.
If the camera is faulty, the robot will periodically send reminders to the app, and the app will send a prompt
to the user after receiving the message.
ACTION_ULTRASONIC
Once the obstacle avoidance mode is turned ON, the robot will actively send the current distance measured
by the ultrasonic wave to the app and the app needs to parse this command.
The App can also actively send this command for the robot dog to print out the distance measured by the
ultrasonic wave through the serial port. Note that the command does not contain parameters, and there is
currently no Action.
App command
Action
H#\n
The robot obtains the distance measured by the ultrasonic module
once, and prints it out through serial port.
Robot command
Action
H#dist#\n
“dist” refers to the distance measured by the ultrasonic module
H#101#\n
The current measured distance is 101 cm.
ACTION_GET_VOLTAGE
The robot actively sends the current voltage value and battery percentage to the app every 3 seconds without
the need of the app to inquire.
The unit of voltage is mV.
Robot command
Action
I#voltage#percent#\n
“voltage” refers to the current voltage of the batteries, and
“percent” is the battery percentage.
I#8400#100%\nI
The current voltage is 8400mV, 100%.
ACTION_CALIBRATE
Calibrate the robot. This command must contain only five parameters.
Parameters
Action
J#legn#SSC#x#y#z#\n
Legn
Leg number, numbered counterclockwise from left front to right
front, 0,1,2,3
S：Select
S：Set
C：Confirm
1: Set the position of the legs without overlaying calibration
information.
2: Confirm the calibration information.
3: Select one leg to calibrate.
x、y、z
They refer to the coordinates of the tiptoe of the robot dog, with
the calibration point as the relative value of the origin. If the leg
does not need calibration, then it is 0 0 0.
Examples:
App command
Action

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.