XGoESP32

Robot: XGo Lite, purchased from Stelltron Education.

Robot name: SAM (Stelltron Automated Mutt)

Makes use of Serial0 (this is defined at the top of send.h and xGo.h)

Add ons:

• Added a DF Robot Beetle ESP32 C3 - RISC-V which this code runs on, and sends commands to SAM.
• Neo pixel

Wiring instructions:

• PIN 2: neo pixel
• PIN 9: connected to ground through switch, ground on power up to enter flashing mode to upload code.
• PIN 20: RX to SAM
• PIN 21: TX to SAM

Libraries used:

• Adafruit NeoPixel

Code modified from:

• Adafruit NeoPixel example strandtest_wheel
• https://github.com/Xgorobot/mini-pythonlib
• https://github.com/DeflatedPickle/xgo/tree/2eb56ac9d3cce067436461d3ea573ca003f76b67

Files that you need to include in your project:

• xGo.h
• util/enum/xGo_names.h
• util/enum/send.h

List of functions to use:

• void stop_robot()
• int getMode()
• int getBatteryLevel()
• Version::Version getVersion()
• void setPerformanceMode(Mode::Mode mode)
• void unmount_all_motors() :NEED TO TEST
• void unmount_limb(Limb::Limb limb) :NEED TO TEST
• void walk(Direction::Direction direction, int speed) ; Speed 0-128;
• void rotate(Direction::Direction direction,int speed) ; Speed 0-128;
• void bodyShift(Direction::Direction direction, int value) ; value 0-128;
• void setBodyHeight(int height) ; Height 0-255;
• int getBodyHeight()
• void adjustBodyHeight(int height) ; height 0-255;
• void setMaxRotationAngle(Axis::Axis axis, int angle) :NEED TO TEST
• void setSteppingHeight(int height) :NEED TO TEST
• void setMovingMode(Speed::Speed speed)
• void setAction(Action::Action action)
• void setFootPosition(Limb::Limb limb,int x_pos, int y_pos, int z_pos) :NEED TO TEST
• void setServoPosition(Limb::Limb limb,int servo1, int servo2, int servo3) :NEED TO TEST
• void IMU_stabilize(bool val)
• int getIMUAngle(IMU::IMU axis)
• void setBodyRotation(Axis::Axis axis, int period) :NEED TO TEST
• int getBodyRotation(Axis::Axis axis)
• int getSteppingHeight()
• void stopBodyRotation() :NEED TO TEST
• void getFootPosition(Limb::Limb limb,int *x_pos, int *y_pos, int *z_pos) :NEED TO TEST
• void getServoPosition(Limb::Limb limb,int *servo1, int *servo2, int *servo3) :NEED TO TEST
• void stand()
• void setServoSpeed(Limb::Limb limb,int servo,int speed)

Things not coded (suggest using the XGo app to modify these):

• 0x04 Calibration mode (W)
• 0x13 Bluetooth (W)
• 0x21 Reset zero position of servo (W)

TODO:

• include send.h into xGo class