BittleEsp32.ino

// modify the model and board definitions
//***********************
#define BITTLE // Petoi 9 DOF robot dog: 1 on head + 8 on leg

#define Esp32Board // ESP32 Board with 16 channels of PCA9685 PWM for joints
//***********************

// Send 'R' token to reset the birthmark in the EEPROM so that the robot will restart to reset
//#define AUTO_INIT  //activate it to automatically reset joint and imu calibration without prompts

// you can also activate the following modes (they will diable the gyro to save programming space)
// allowed combinations: RANDOM_MIND + ULTRASONIC, RANDOM_MIND, ULTRASONIC, VOICE, CAMERA
//#define ULTRASONIC      //for Nybble's ultrasonic sensor
//#define VOICE           //for LD3320 module
//#define CAMERA          //for Mu Vision camera

#include "src/Bittle.h"

void setup()
{
  // put your setup code here, to run once:
  Serial.begin(115200); // USB serial
  Serial.setTimeout(5);
  //  Serial1.begin(115200); //second serial port
  while (Serial.available() && Serial.read())
  {
    delay(1);
  }; // empty buffer
  PTLF("Flush the serial buffer...");
  PTLF("\n* Start *");
#ifdef BITTLE
  PTLF("Bittle");
#endif
  while (Serial.available() && Serial.read())
    ; // empty buffer
  i2cDetect();
  i2cEepromSetup();
#ifdef GYRO_PIN
  imuSetup();
#endif
  bleSetup();
  blueSspSetup();
  servoSetup();
  skillList = new SkillList();
  for (byte i = 0; i < randomMindListLength; i++)
  {
    randomBase += choiceWeight[i];
  }

#ifdef NEOPIXEL_PIN
  ledSetup();
#endif
#ifdef PWM_LED_PIN
  pinMode(PWM_LED_PIN, OUTPUT);
#endif
#ifdef VOLTAGE
  while (lowBattery())
    ;
#endif

  QA();
  i2c_eeprom_write_byte(EEPROM_BIRTHMARK_ADDRESS, BIRTHMARK); // finish the test and mark the board as initialized

#ifdef VOICE
  voiceSetup();
#endif

#ifdef CAMERA
  cameraSetup();
#endif

  lastCmd[0] = '\0';
  newCmd[0] = '\0';

  //  if (exceptions) {// Make the robot enter joint calibration state (different from initialization) if it is upside down.
  //    strcpy(newCmd, "calib");
  //    exceptions = 0;
  //  }
  //  else {// Otherwise start up normally
  //    strcpy(newCmd, "rest");
  //    token = 'd';
  //    newCmdIdx = 6;
  //  }
  //  loadBySkillName(newCmd);
  //

  playMelody(melodyNormalBoot, sizeof(melodyNormalBoot) / 2);
#ifdef GYRO_PIN
  read_IMU();                                  // ypr is slow when starting up. leave enough time between IMU initialization and this reading
  token = (exceptions) ? T_CALIBRATE : T_REST; // put the robot's side on the table to enter calibration posture for attaching legs
  newCmdIdx = 2;
#endif

  PTLF("k");
  PTL("Ready!");
  idleTimer = millis();
  beep(24, 50);
}

void loop()
{
#ifdef VOLTAGE
  lowBattery();
#endif
  //  //—self-initiative
  //  if (autoSwitch) { //the switch can be toggled on/off by the 'z' token
  //    randomMind();//allow the robot to auto rest and do random stuff in randomMind.h
  //    powerSaver(POWER_SAVER);//make the robot rest after a certain period, the unit is seconds
  //
  //  }
  //  //— read environment sensors (low level)
  readEnvironment();
  readSignal();
  //  readHuman();

  //  //— special behaviors based on sensor events
  dealWithExceptions(); // low battery, fall over, lifted, etc.

  //  //— generate behavior by fusing all sensors and instruction
  //  decision();

  //  //— action
  //  //playSound();
#ifdef NEOPIXEL_PIN
  playLight();
#endif
  reaction();
}