4 ๐ Connect the Wires
"Everything is connected." ๐ค
5.1 Servo wiring
NyBoard
Connect the wires of servos to the NyBoard servo pins as below. They follow a circular symmetry. Notice the skipped indexes between the head and leg servos (1~7). They are reserved for our future robots with more joints.
The index number of the joint servo has no corresponding relationship with the PWM pin number on the main board. You should not read the pin numbers on the PCB board during assembly.
BiBoard
Although the BiBoard has only 12 pins, the joint index numbers are configured in the same order as the NyBoard. The connection between the joint servo and the pin is shown in the figure below๏ผ
Wiring instruction for BiBoard with the voice command extension hat
Wire direction
The black wire (GND wire) should be closer to the board.
Bottom view:
Inserts the infrared receiver under the back plate so that the sensor can expose to the outside.
Make sure that the wires go into the body, bypass the columns, then plug into the servo pins. Arrange the wires so they don't get in between the servo plugs and the body frame. NyBoard should fit flat on the four standoffs. (It is OK for the board to have a minor bend caused by the chassis.) Use four M2x8 self-tapping screws to fix the NyBoard.
Completed:
Make sure all the servos are connected to the correct sockets on the circuit board in the correct orientation. Long-press and power on the battery (blue LED for Bittle indicates powered-on, whereas yellow LED for Nybble indicates powered-on). Enter the calibration mode using one of the methods listed below:
When calibrating, you need to install the head and leg components on the gear of the output shaft of the servo. No screws are needed, but you must enter the calibration mode before installation.
There are five methods to enter the calibration state:
long-press the battery and boot up the robot with one side up. It will enter the calibration state automatically. The picture below shows the upper legs and lower legs installed after the robot enters the calibration state.
Use the mobile app Petoi to enter the calibration panel.
Use Joint Calibrator in Petoi Desktop App :
If you have already connected the robot and computer with a serial port, It will enter the calibration state automatically when you click the " Joint Calibrator" button
Click the "Calibrate" button in the calibrator interface
In the serial monitor of Arduino IDE, enter the serial command "c"
Measurement and installation can be carried out with the aid of a triangle ruler or the L-shaped ruler included in the kit.
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