Hi @borntoleave,

Is it possible to retrieve IMU data from Bittle programmatically? I want to get odometry for SLAM package integration.

Thanks, Sergey

Hi,

downloaded OpenCat.ino. It does not compile. Error is:

Sketch uses 33764 bytes (104%) of program storage space. Maximum is 32256 bytes. Global variables use 1344 bytes (65%) of dynamic memory, leaving 704 bytes for local variables. Maximum is 2048 bytes. Sketch too big; see http://www.arduino.cc/en/Guide/Troubleshooting#size for tips on reducing it.

Updated libraries to the latest.

Any idea?

BR Heiko

Robot: Bittle Hardware: NyBoard v1.0, RPi Zero 2 W Software: Ubuntu Server 20.04, Python 3.8

Steps:

1. Run ardSerial.py
2. Send kbalance command
3. Send krest command
4. Send kbalance command
5. Send krest command

Expected: all the commands are successfully executed, Bittle performed the requested actions. Actual: the last krest is executed, but Bittle didn't perform any action.

Check the video to see it in action.

Note that it's not related to krest command only. I observed the same behavior for any command. Everything may work smoothly, and then in a moment, some command is just skipped.

Also note that seems like I'm not alone here. I investigated existing GitHub repos for Bittle and found this one for the gamepad teleop. There's a list of know issues at the end.

The second one seems very close to what I'm talking about. And this repo uses pyBittle library as a dependency for Serial communication.

Anyway, it seems like there's a bug. So would be greatly appreciated if you can take a look @borntoleave @JasonWong08.

Thanks, Sergey

Hi @borntoleave @JasonWong08,

I noticed a recent update in serial code. Wondering if you have tested it with an RPi hat?

It doesn't work for me. First of all, it incorrectly detects a serial port: /dev/ttyAMA0 is wrong for RPi. There should always be ttyS0.

I updated it manually in code, but serial behavior still seems incorrect to me:

• Some commands work, the others - not. E.g. I can run ksit, but further kbalance doesn't work or vice versa.
• NyBoard is always stuck after 1 or 2 commands and requires a reset.
• Sometimes I see response parsing exceptions for the correct commands, e.g. here when we try to extract a 0-element from empty object.
• NyBoard is totally unstable: it may beep several times before or after the command's execution but there's no response at all.

Note that I can still control Bittle with IR until the board is stuck on serial.

I can record a video of course. But it's not really helpful when the board is stuck in 1 command and Bittle becomes unresponsive.

Any thoughts or comments on how to make the serial interface stable with an RPi hat would be greatly appreciated.

Hardware / Environment

• Bittle / NyBoard_V1_0
• RPi Zero 2W / model A+
• x64 Ubuntu 20.04

Not sure if this is a bug or not, but thought I'd mention and let you decide :)

Last night, while trying to write custom zero skill for Nybble, it didn't seem to work.

The fix was easy: in my local branch, inside InstinctNybble.h:

1. I moved zero to progmemPointer[] array.
2. Revised it to "zeroN" in skillNameWithType array.
3. Re-ran WriteInstinct.ino to update the skills
4. Ran and uploaded my OpenCat.ino copy.

And to gain a bit more space in Program memory I commented out hs, hs1, hs2 skills.

Now, I can just tweak the zero skill and upload the code... no need to re-run WriteInstinct. But I needed it the first time just to move zero out of EEPROM and into Program memory (if I understand right).

I'm experiencing issues launching the Petoi Desktop App with a Macbook Pro with M1 CPU.

Launching from the Launchpad I only got this error message:

Launching from the terminal I got this traceback:

Traceback (most recent call last):
  File "/Applications/Petoi Desktop App.app/Contents/Resources/__boot__.py", line 89, in _recipes_pil_prescript
    import Image
ModuleNotFoundError: No module named 'Image'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/Applications/Petoi Desktop App.app/Contents/Resources/__boot__.py", line 135, in <module>
    _recipes_pil_prescript(['DdsImagePlugin', 'FitsStubImagePlugin', 'EpsImagePlugin', 'WmfImagePlugin', 'PdfImagePlugin', 'JpegImagePlugin', 'DcxImagePlugin', 'GbrImagePlugin', 'FpxImagePlugin', 'PalmImagePlugin', 'IptcImagePlugin', 'PsdImagePlugin', 'SunImagePlugin', 'MpegImagePlugin', 'IcoImagePlugin', 'BmpImagePlugin', 'IcnsImagePlugin', 'TgaImagePlugin', 'GifImagePlugin', 'FliImagePlugin', 'Jpeg2KImagePlugin', 'SgiImagePlugin', 'Hdf5StubImagePlugin', 'CurImagePlugin', 'PixarImagePlugin', 'BufrStubImagePlugin', 'XpmImagePlugin', 'MicImagePlugin', 'PngImagePlugin', 'BlpImagePlugin', 'WebPImagePlugin', 'PcdImagePlugin', 'FtexImagePlugin', 'MpoImagePlugin', 'MspImagePlugin', 'ImtImagePlugin', 'PpmImagePlugin', 'SpiderImagePlugin', 'PcxImagePlugin', 'GribStubImagePlugin', 'McIdasImagePlugin', 'XbmImagePlugin', 'ImImagePlugin', 'XVThumbImagePlugin', 'TiffImagePlugin'])
  File "/Applications/Petoi Desktop App.app/Contents/Resources/__boot__.py", line 93, in _recipes_pil_prescript
    from PIL import Image
  File "<frozen zipimport>", line 259, in load_module
  File "PIL/Image.pyc", line 89, in <module>
  File "<frozen zipimport>", line 259, in load_module
  File "PIL/_imaging.pyc", line 14, in <module>
  File "PIL/_imaging.pyc", line 10, in __load
  File "imp.pyc", line 342, in load_dynamic
ImportError: dlopen(/Applications/Petoi Desktop App.app/Contents/Resources/lib/python3.9/lib-dynload/PIL/_imaging.so, 0x0002): Library not loaded: '@rpath/libtiff.5.dylib'
  Referenced from: '/Applications/Petoi Desktop App.app/Contents/Resources/lib/python3.9/lib-dynload/PIL/_imaging.so'
  Reason: tried: '/opt/anaconda3/envs/simpleUI/lib/libtiff.5.dylib' (no such file), '/opt/anaconda3/envs/simpleUI/lib/libtiff.5.dylib' (no such file), '/Applications/Petoi Desktop App.app/Contents/Resources/lib/python3.9/lib-dynload/PIL/../../../libtiff.5.dylib' (no such file), '/opt/anaconda3/envs/simpleUI/lib/libtiff.5.dylib' (no such file), '/opt/anaconda3/envs/simpleUI/lib/libtiff.5.dylib' (no such file), '/Applications/Petoi Desktop App.app/Contents/Resources/lib/python3.9/lib-dynload/PIL/../../../libtiff.5.dylib' (no such file), '/opt/anaconda3/envs/simpleUI/lib/libtiff.5.dylib' (no such file), '/Applications/Petoi Desktop App.app/Contents/Frameworks/libtiff.5.dylib' (no such file), '/Applications/Petoi Desktop App.app/Contents/MacOS/../Frameworks/libtiff.5.dylib' (no such file), '/usr/local/lib/libtiff.5.dylib' (no such file), '/usr/lib/libtiff.5.dylib' (no such file)
2022-08-29 10:16:05.365 Petoi Desktop App[7205:38695] Launch error
2022-08-29 10:16:05.365 Petoi Desktop App[7205:38695] Launch error
See the py2app website for debugging launch issues
exit

I also tried directly from source code cloning this repo and starting pyUI/UI.py after have installed pyserial and pillow packages and the application starts showing the small window with the three buttons but then, when I choose Skill Composer it crashes with a Segmentation fault error when I click on the Behavior or Export buttons.

Is there something I'm missing?

Thanks in advance for the help

I've seen examples such as pyBittle of sending pre-programmed gaits to the Bittle via WiFi or Bluetooth. I'm an AI researcher looking to instead send precise velocities and torques to the Bittle for exact joint control. I also need to capture the Bittle's accelerometer and gyroscope data.

Is there example code anywhere for how to achieve both of these goals?

1. Send precise commands
2. Receive Bittle metadata

Thanks for any help!

The testUltrasonic.ino file was not compatible with the "Grove Ultrasonic Ranger` which I received in the Bittle Sensor Pack.

The difference was that the "Grove Ultrasonic Ranger" only uses one pin for input/output.

Changes:

• Support single pin ultrasonic ranging
• Tidy up of code
• Use physics based #defines to make it clear why we are using different constants (e.g. speed of sound)

Testing

I used a super sophisticated test setup 😜

Tested well at 15cm, 10cm and 5cm

@borntoleave Since this repo is so frequently updated our code sometimes break when you push a new commit. It would be great if you could make a stable release.

The bf behavior is defined as: https://github.com/PetoiCamp/OpenCat/blob/f1013cece692d6ff9d86577a7216416f9587aa2d/WriteInstinct/InstinctBittle.h#L599-L610

If I understand correctly, the fifth frame is triggered by a pitch angle of -10 degrees. The sixth frame seems to have the trigger axis set to zero (i.e. no trigger axis) but there is an angle value. It seems that the 127 will never be read because the axis is tested first and you can't trigger on yaw: https://github.com/PetoiCamp/OpenCat/blob/f1013cece692d6ff9d86577a7216416f9587aa2d/OpenCat.ino#L740-L742

Is this meant to be ignored, or an error, or do I misinterpret the format?

File WriteInstinct/OpenCat.h line 926: void calibratedPWM(byte i, float angle, float speedRatio = 0) { All active calls to calibratedPWM() only have 2 arguments, so the default value of speedRatio (0) is used unguarded on line 924: byte steps = byte(round(abs(duty - duty0) / 1.0/degreeStep/ / speedRatio)); //default speed is 1 degree per step triggering a divide by zero.

I tried to run the firmware uploader from the UI on a raspberry pi, but it isn't able to connect to the correct port (/dev/ttyS0). The calibrator however works on the raspberry pi. After looking at the code we found that the communication is established differently in the calibrator and in the firmware uploader. In the calibrator, ardSerial is used while in the firmware uploader serial.tools.list_ports is used. Is there a way in which we can use the ardSerial in the firmware uploader? Thanks for the help.