In the code for Bittle, speed control (tokens ',' and '.') refers to the frame rate of a skill, not the locomotion speed. For any given gait there will be a range of skill frame rates that are usable. The gait plus a usable skill frame rate provides the observed Bittle locomotion speed. What I want in a control app is a way to specify the gait (e.g. via a radio button) and a way to specify a skill frame rate (e.g. with a slider) that is within the usable range for the selected gait, thus giving me a more useful (IMO) way to control the observed Bittle locomotion speed. All this said, one would need to prototype such a control paradigm to really see if it is better than other "gait plus frame rate = locomotion speed" control approaches. As I think upon this more, another approach would be to mimic what real quadrupeds do. This would be a single locomotion speed control that smoothly moves from the lowest to the highest locomotion speed. It could achieve this by algorithmically varying both the gait and usable frame rate to achieve a walk to a trot to a canter and then to a gallop (or the Bittle equivalents) across each gait's usable frame rate. Now that would be amazing! I hope this clarification helps! 😎

I would rather select a gait with a button (not a slider), select a speed with a slider and use directional buttons to control direction of the locomotion. So, no, I would not like this change. Instead, I would like to have the UI be changed as I just described. Right now the speed and gait are on the same control - those should be separate controls.

@Reid Graves or @Reid Graves (you apparently have two accounts, "gravesreid" and "rgraves" - perhaps delete one?), I loved the work you are are doing regarding emulating ant swarms and autonomous behavior. I noticed you are using a a crouch gate instead of a walking gait; is that to better control robot movement for your work? Seems like a pretty clever idea! BTW, the crouch gate servo movements seems rather rapid - is the video speed up or is that the true speed of the crouch gate servo movements? Looking forward to seeing more of your work! 😀

What great work! Congratulations to these winners!

Can you give any details about how you did it and perhaps share the code you used?

Thanks for the additional info!

This is nice work - thanks for posting! I am having some trouble though reading the text and formulas in the MyPetoi.pdf file. Any chance these could be typed up rather than presenting it as written script to make it easier to read? Also, can you share any references you used to establish the frame references and to derive the formulas you list?

I don't know if the NyBoard has enough processing power for your dual camera robot project. The BiBoard may be a better choice (see https://www.petoi.camp/forum/general-discussions/my-board-your-board-let-s-talk-about-ny-and-bi-boards). However, regarding the physical connection, you could use an I2C hub if the two camera modules have different (or selectable) I2C addresses (e.g. see https://store.arduino.cc/products/grove-i2c ). If they have the same I2C address that cannot be changed, you could use an I2C multiplexer (e.g. see https://soldered.com/product/i2c-multiplexer-tca9548a-breakout/). I am doing something similar (not with cameras but with other sensors sending wireless telemetry to my "laptop as Bittle brain") so you may also be interested in this post: https://www.petoi.camp/forum/clinic/solved-in-search-of-reliable-bidirectional-bluetooth-serial-port-profile-spp-communication Hope that helps! Your project sounds interesting so please keep us posted on your progress! 😎

Given the breaking changes, IMO, we would also need to review what we would gain by such an upgrade from ESP32 v2.x to v3.x. I am just in this for the robotics and the ESP32 is merely a means to that end. Personally, I don't care much for dealing with the changes needed to make the upgrade unless there is something in v3.x that is important from a robotics perspective (or from a related bug fix perspective). Perhaps some energetic soul can look into this?

Seems anything at or above esp32 v2.0.13 is trouble. See:  Installing version 2.0.13 and above may cause the motherboard to fail to startup. as shown here: https://docs.petoi.com/biboard/biboard-v0#id-3.2.1-set-up-esp32-development-environment:~:text=Installing%20version%202.0.13%20and%20above%20may%20cause%20the%20motherboard%20to%20fail%20to%20startup.

Small typo there. The text says "https://github.com/PetoiCamp/Petoi_MindPlusLib" which is correct but the underlying link URL says "https://github.com/PetoiCamp/Petoi_MindPlusLibwe" which is not correct.

I have not used ardSerial.py but perhaps the Petoi Team can help troubleshoot.

Can you successfully send commands (try a simple posture like "kup") to the robot using the Arduino IDE monitor on the Bluetooth Outgoing Port, COM6? - Remember to have the battery pack on so the servos can move.

In the list of paired Bluetooth devices, do you see the two entries for the Bittle? On my Win 10 laptop, it looks like this: One is incoming and the other is outgoing but, in this display, you can only see that they exist, but not which is which.

Not sure what you mean by "the robot shows up". Can you share a screenshot?

I don't know if this is helpful but I had some trouble getting the Bittle to send sensor data to my laptop using Bluetooth (that would be outgoing from the Bittle X perspective). See this post: https://www.petoi.camp/forum/clinic/solved-in-search-of-reliable-bidirectional-bluetooth-serial-port-profile-spp-communication. In particular, see the screenshot of the ports as they appear on my laptop. It is not clear what you are trying to connect the Bittle to via Bluetooth but I am using a Windows 10 laptop. Perhaps post additional details regarding your use case?

Thanks for that additional info!

These two 'k' token commands do seem to be what the infrared.h code is invoking. However, how that code achieves this is not that clear. Is there an "explainer" for the workings of infrared.h somewhere?

I will take a look and see what 'k' commands those correspond to. Thanks!

Looks a little tricky, but here are a couple of posts you might check out: • https://randomnerdtutorials.com/program-upload-code-esp32-cam/ • https://all3dp.com/2/esp32-cam-arduino-tutorial/