Mini quadruped robot ESP32

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2023.9.20 Firmware update

Added custom action mode, you can customize an action of up to 10 steps in the mini program.

Attached: esp32c3 firmware file with custom mode firmware bin.zip

Burn the settings shown below

Before burning the esp32c3 development board without serial port, press and hold the BOOT key and then plug in the cable to enter the burning mode. Select USB for LoadMode.

The mini program has been updated, just scan the original code.

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Two years ago, I used esp8266 to make a small quadruped robot. This time I used esp32C3 to remake it. The main reason is that C3 has Bluetooth and can be remotely controlled using Bluetooth. It is very convenient and can be connected and played at any time without occupying the mobile phone WiFi.

Moreover, although the esp32C3 does not have many pins, in addition to the control of the 8-channel servo, it can also have an SPI interface, so a tft RGB display can be added to the robot, and the robot has become more respectable.

The shape and structure of the robot comes from: Q1 lite Simple Quadruped Robot page address of author jasonleung8866 on T station: https://www.thingiverse.com/thing:2732957.

It is a secondary creation based on the original work. The upper and lower covers of the fuselage and the robot head are added, and the motherboard is hidden in the casing. The battery uses 16240 lithium batteries.

esp32c3 uses Hezhou's 9.9 esp32c3 development board, which greatly simplifies the circuit design. There are only a dozen parts that need to be soldered by yourself, which is very easy.

The remote control software is developed using the WeChat applet. Since I am not very good at writing small programs, the host computer is currently just a simple demo, which is being submitted for upload review and may not pass. If it fails, the source code of the applet will also be open sourced. Everyone You can create a small program development environment and test it on a real machine, and you can use it on your mobile phone.

The code is developed using Arduino IDE. For esp32 development, you need to install the ESP32 SDK first and select ESP32C3 as the development board. For Hezhou's ESP32C3 development board, Flash Mode: select DIO to run normally.

The esp32c3 development of Hezhou 9.9 does not have a serial port chip. The esp32c3's own USB virtual serial port is used for burning. Since the program occupies IO ports 18 and 19, you need to hold down the BOOT key on the development board and then press the RES key when burning the program. Let the developer enter the burning mode and select the corresponding serial port before burning. The version with serial port chip is not required.

I used a mos tube to make a reverse-connection protection circuit for the battery, but the battery will not power up if it is installed backwards.

The previously uploaded version had errors and cannot be used. It has been difficult to receive express delivery recently, so I can only simplify the circuit and delete everything that needs to be deleted, but it does not affect the game. I tested it with a 16340 battery that costs 5 yuan and it can run for 15 minutes. , try to use a good quality battery, it should be able to play for a long time.

The WeChat mini program Bluetooth remote control app has passed the review. You can use it by scanning this code:

Servo used: SG90 180 degree servo.

Fixing screws: SG90 comes with two fixing screws that can be used directly.

The servo arm fixing screws that come with the servo are not long enough and need to be purchased separately----M2*6 8 pieces.

Upper and lower cover fixing screws-----------------------------------------M2.5*8 8 pieces.

Robot head display bracket screws--------------------------M2.5*4 2 pieces.

Motherboard fixing screws-----------------------------------------M2*4 4 pieces.

Synmain esp32c3 development board: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.37412e8dhEL4Ya&id=666579064570&_u=e2oqo1kf722c

Two-speed switch: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.37412e8dhEL4Ya&id=536939991585&_u=e2oqo1kf0760

16340 battery box: https://shop59087254.taobao.com/category-519942917.htm?spm=a1z10.1-c.w4010-960009422.15.11ed3275af0qhQ&search=y&parentCatId=447025040&parentCatName=%B5%E7%B3%D8%BA%D0&catName=CR123A%B5%E7%B3%D8%D7%F9+16340%B5%E7%B3%D8%BA%D0#bd

FPC interface: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.62302e8dhwWTxb&id=583252753997&_u=f2oqo1kff140(Category: 8P Spacing: 0.5mm spacing Specification: bottom)

1.14 inch lcd LCD screen: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.24f92e8dvMZTeg&id=586409078629&_u=22oqo1kfce41 (plug type)

Attachment file description:

3D printer STL file.zip fuselage 3D printing file.

ESP32_C3_ISR_Servo.zip ESP32C3 library that uses interrupt mode to output PWM to control the servo.

ESP32C3_XiaoSiZu_BLE.zip program source code.

Video introduction: https://www.ixigua.com/7159519651385311752?logTag=4e51eab73b0d4d9e10f0