I trained a reinforcement learning model for my Bittle using Isaaclab. It can move around in a simulated physical world. I want to communicate with Bittle via my Mac, collect the angle of each joint as input to the trained policy model, obtain the joint angle at the next time step, and then send it to Bittle for execution. My question is, does Bittle provide this functionality (reading and writing joint angles)?

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Rongzhong Li

16 ene

When talking about reading joint angles, it may refer to:

Extracting the angle from the memory. It should be exactly the same angle you sent previously. The currentAng[] array keeps all that data.
Reading the actual angle from the servos because they could be moved by external force. You can find the corresponding code in OpenCatEsp32 for reading the servo feedback.

25 days ago

Anyone tried controlling Bittle with Arduino Mega instead of ESP8266?

Hi everyone,

I’m trying to control Bittle using the sendCMD function. Originally this was done with the test8266Master example on an ESP8266, but since I don’t have an ESP8266 right now, I replaced it with an Arduino Mega 2560.

My idea is to connect both the MU camera and Bittle to the Mega. The Mega reads data from the camera, makes decisions, and then sends commands to Bittle. I’ve confirmed that the communication between the Mega and the MU camera works fine, and from the Mega side it looks like commands are being sent continuously.

However, Bittle doesn’t respond at all and doesn’t perform any actions. I’m not sure if replacing the ESP8266 with an Arduino Mega could cause any logical or communication issues, or if there’s something specific about how sendCMD needs to be sent (UART, baud rate, command format, timing, etc.) that I might be missing.

Has anyone…