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May 4, 2021

What commands can I send over serial from Raspberry Pi to NyBoard?

It seems only a few work, like kbalance and d. I haven't found any others that work nor much good documentation for work commands I can use. Any help would be appreciated!

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Struzck

May 04, 2021

You can check how commands are processed here: https://github.com/PetoiCamp/OpenCat/blob/b9e8a24c1ce3ad956e6b16ef613a219cd560277a/WriteInstinct/OpenCat.h (from line 160)

This is a dict with available commands too (ignore the keys, only the values are important for your question):

self._commands= {  # Command : message to Bittle
Command.REST: 'd',
Command.FORWARD: 'F',
Command.GYRO: 'g',
Command.LEFT: 'L',
Command.BALANCE: 'kbalance',
Command.RIGHT: 'R',
Command.SHUTDOWN: 'z',
Command.BACKWARD: 'B',
Command.CALIBRATION: 'c',
Command.STEP: 'kvt',
Command.CRAWL: 'kcr',
Command.WALK: 'kwk',
Command.TROT: 'ktr',
Command.LOOKUP: 'klu',
Command.BUTTUP: 'kbuttUp',
Command.RUN: 'krn',
Command.BOUND: 'kbd',
Command.GREETING: 'khi',
Command.PUSHUP: 'kpu',
Command.PEE: 'kpee',
Command.STRETCH: 'kstr',
Command.SIT: 'ksit',
Command.ZERO: 'kzero'        
}

For movement commands, you have to build the whole command (gait + direction), e.g, trot forward -> ktrF, run forward left -> krnL, as far as I know, for backward movement you must use 'kbk' + direction

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