avoid voltage QA for V0; improve skills of Nybble

src/InstinctBittleESP_arm.h

@@ -1733,14 +1733,14 @@ const int8_t clap[] PROGMEM = {
     0,   0,   0,   0,   0,   0,   0,   0,  30,  30,  30,  30,  30,  30,  30,  30,	 8, 0, 0, 0,
     0,  -5,-120,   0,   5,   5,   3,   3,  71,  71, -58, -58, -60, -60,  74,  74,	12, 0, 0, 0,
     0,  -4,-120,   0,   5,   5,   3,   3,  47,  47, -25, -25,   9,   9,  90,  90,	12, 0, 0, 0,
-    0, 110, 120,   0,   5,   5,   3,   3,  12,  12, -15, -15, -37, -37,  90,  90,	64, 5, 0, 0,
-    0,  30,-120,   0,   5,   5,   3,   3, -41, -41, -15, -15,  16,  16,  90,  90,	48, 2, 0, 0,
+    0, 110, 120,   0,   5,   5,   3,   3,  12,  12, -13, -13, -37, -37,  90,  90,	48, 5, 0, 0,
+    0,  30,-120,   0,   5,   5,   3,   3, -41, -41, -13, -13,  16,  16,  90,  90,	48, 2, 0, 0,
    25, 110, 120,   0,   5,   5,   3,   3,  12, -85, -15, -15, -37,  60,  90,  90,	64, 4, 0, 0,
     0,  30,-120,   0,   5,   5,   3,   3, -41, -41, -15, -15,  16,  16,  90,  90,	48, 2, 0, 0,
   -25, 110, 120,   0,   5,   5,   3,   3, -85,  12, -15, -15,  60, -37,  90,  90,	64, 4, 0, 0,
     0,  30,-120,   0,   5,   5,   3,   3, -41, -41, -15, -15,  16,  16,  90,  90,	48, 2, 0, 0,
-    0, 120,-120,   0,   5,   5,   3,   3,  90,  90, -54, -54, -60, -60,  25,  25,	 8, 0, 0, 0,
-    0, 120,-120,   0,   5,   5,   3,   3,  71,  71,  31,  31, -60, -60, -28, -28,	12, 0, 0, 0,
+    0, 120,-120,   0,   5,   5,   3,   3,  71,  71, -45, -45, -56, -56,  50,  50,	 8, 0, 0, 0,
+    0, 120,-120,   0,   5,   5,   3,   3,  71,  71,  72,  72, -56, -56, -51, -51,	12, 0, 0, 0,
     0,   0,   0,   0,   0,   0,   0,   0,  30,  30,  30,  30,  30,  30,  30,  30,	12, 0, 0, 0,
 };
 const int8_t cmh[] PROGMEM = { 
@@ -1996,9 +1996,9 @@ const int8_t pickUp[] PROGMEM = {
  0, 0, 0, 
     0, -10,   0,   0,   0,   0,   0,   0,  16,  16,  30,  30,  30,  30,  30,  30,	32, 0, 0, 0,
     0,  40,  85, -10,  10,  10, -20, -20,   5,   5,  10,  10,  20,  20,  50,  50,	48, 0, 0, 0,
-    0,  40,  85, -10,  10,  10, -20, -20,   5,   5,  10,  10,  20,  20,  50,  50,	64, 0, 0, 0,
-    0, 105,  85, -10,  10,  10, -20, -20,  53,  53,  40,  40, -28, -28,  35,  35,	 4, 0, 0, 0,
-    0, 105,   0, -10,  10,  10, -20, -20,  53,  53,  40,  40, -28, -28,  35,  35,	 8, 0, 0, 0,
+    0,  20,  85, -10,  10,  10, -20, -20,   5,   5,  10,  10,  20,  20,  50,  50,	64, 0, 0, 0,
+    0,  97,  85, -10,  10,  10, -20, -20,  53,  53,  40,  40, -28, -28,  35,  35,	 4, 0, 0, 0,
+    0,  97,   0, -10,  10,  10, -20, -20,  53,  53,  40,  40, -28, -28,  35,  35,	 8, 0, 0, 0,
     0,   0,   0,   0,   0,   0,   0,   0,  20,  20,  30,  30,  30,  30,  30,  30,	 8, 0, 0, 0,
 };
 const int8_t pu[] PROGMEM = { 

src/OpenCat.h

@@ -76,13 +76,13 @@
 #else
 #define BOARD "B"
 #endif
-#define DATE "240923"  // YYMMDD
+#define DATE "241009"  // YYMMDD
 String SoftwareVersion = "";
 
 #define BIRTHMARK '@'  // Send '!' token to reset the birthmark in the EEPROM so that the robot will know to restart and reset
 
-#define BT_BLE    // toggle Bluetooth Low Energy (BLE）
-#define BT_SSP    // toggle Bluetooth Secure Simple Pairing (BT_SSP)
+#define BT_BLE  // toggle Bluetooth Low Energy (BLE）
+#define BT_SSP  // toggle Bluetooth Secure Simple Pairing (BT_SSP)
 #define GYRO_PIN  // toggle the Inertia Measurement Unit (IMU), i.e. the gyroscope
 #define SERVO_FREQ 240
 
@@ -106,8 +106,14 @@ String SoftwareVersion = "";
 #define HEAD
 #define TAIL  // the robot arm's clip is assigned to the tail joint
 #define LL_LEG
+
+#ifndef MINI
 #define REGULAR P1S
 #define KNEE P1S
+#else
+#define REGULAR P50
+#define KNEE P50
+#endif
 #ifdef ROBOT_ARM
 #include "InstinctBittleESP_arm.h"
 #else
@@ -242,7 +248,8 @@ double rate = 1.0 * MAX_READING / BASE_RANGE;
 enum ServoModel_t {
   G41 = 0,
   P1S,
-  P2K
+  P2K,
+  P50
 };
 
 ServoModel_t servoModelList[] = {
@@ -287,10 +294,11 @@ bool newBoard = false;
 #define T_NAME 'n'                    // customize the Bluetooth device's broadcast name. e.g. nMyDog will name the device as "MyDog" \
                                       // it takes effect the next time the board boosup. it won't interrupt the current connecton.
 #define T_MELODY 'o'
+#define T_CPG 'r'    //Oscillator for Central Pattern Generator
 #define T_PAUSE 'p'  // pause
 #define T_POWER 'P'  // power, print the voltage
 #define T_TASK_QUEUE 'q'
-#define T_ROBOT_ARM 'r'
+#define T_ROBOT_ARM 'R'
 #define T_SAVE 's'
 #define T_TILT 't'
 #define T_TEMP 'T'  // call the last skill data received from the serial port
@@ -415,10 +423,18 @@ int8_t middleShift[] = { 0, 15, 0, 0,
                          10, 10, -10, -10,
                          -30, -30, 30, 30 };
 #elif defined BITTLE
+#ifndef MINI
 int8_t middleShift[] = { 0, -90, 0, 0,
                          -45, -45, -45, -45,
                          55, 55, -55, -55,
                          -55, -55, -55, -55 };
+#else
+int8_t middleShift[] = { 0, 0, 0, 0,
+                         0, 0, 0, 0,
+                         0, 0, 0, 0,
+                         -15, -15, -15, -15 };
+#endif
+
 
 #else  // CUB
 int8_t middleShift[] = { 0, 15, 0, 0,
@@ -556,10 +572,11 @@ int balanceSlope[2] = { 1, 1 };  // roll, pitch
 #ifdef IR_PIN
 #include "infrared.h"
 #endif
+#include "io.h"
 #include "espServo.h"
 #include "motion.h"
 #include "randomMind.h"
-#include "io.h"
+
 
 #include "skill.h"
 #include "moduleManager.h"
@@ -640,7 +657,6 @@ void initRobot() {
   QA();
 
   tQueue = new TaskQueue();
-
   loadBySkillName("rest");  // must have to avoid memory crash. need to check why.
                             // allCalibratedPWM(currentAng); alone will lead to crash
   delay(500);
@@ -651,6 +667,7 @@ void initRobot() {
   if (!moduleDemoQ)
     tQueue->addTask((exceptions) ? T_CALIBRATE : T_REST, "");
 #endif
+  PTL("Ready!");
   beep(24, 50);
   idleTimer = millis();
 }

src/configConstants.h

@@ -323,8 +323,8 @@ void resetIfVersionOlderThan(String versionStr) {
   long currentDate = atol(versionStr.c_str() + versionStr.length() - 6);
   if (savedDate < currentDate) {
     delay(1000);
-    PTH("\n* The previous version on the board is", savedVersionDate);
-    PTH("* The robot will reboot and upgrade to", versionStr);
+    PTTL("\n* The previous version on the board is ", savedVersionDate);
+    PTTL("* The robot will reboot and upgrade to ", versionStr);
     resetAsNewBoard('X');
   }
 }

src/espServo.h

@@ -4,6 +4,7 @@
 ServoModel servoG41(180, SERVO_FREQ, 500, 2500);
 ServoModel servoP1S(270, SERVO_FREQ, 500, 2500);  // 1s/4 = 250ms 250ms/2500us=100Hz
 ServoModel servoP1L(270, SERVO_FREQ, 500, 2500);
+ServoModel servoP50(120, SERVO_FREQ, 900, 2100);
 #ifdef BiBoard2
 #include "pcaServo.h"
 #endif
@@ -47,6 +48,9 @@ void attachAllESPServos() {
       case P2K:
         modelObj[s] = &servoP1L;
         break;
+      case P50:
+        modelObj[s] = &servoP50;
+        break;
     }
     servo[s].attach(PWM_pin[s], modelObj[s]);
     zeroPosition[joint] = modelObj[s]->getAngleRange() / 2 + float(middleShift[joint]) * rotationDirection[joint];

src/moduleManager.h

@@ -343,7 +343,7 @@ void read_serial() {
             return;
           }
           newCmd[cmdLen++] = serialPort->read();
-          PTL(int8_t(newCmd[cmdLen]));
+          // PTHL(newCmd[cmdLen - 1], int8_t(newCmd[cmdLen - 1]));
         } while (serialPort->available());
         lastSerialTime = millis();
       }

src/qualityAssurance.h

@@ -11,6 +11,10 @@ float sDev(float *a, float m, int n) {
     sum += (a[i] - m) * (a[i] - m);
   return sqrt(sum / n);
 }
+byte DcDcGood[] = { 12, 19,
+                    4, 4 };
+byte DcDcBad[] = { 19, 16, 12,
+                   16, 16, 16 };
 byte mpuGood[] = { 12, 16, 19,
                    4, 4, 4 };
 byte mpuBad[] = { 19, 17, 16, 14, 12,
@@ -81,7 +85,6 @@ bool testIR() {
       else
         return false;
     }
-
     if (millis() - timer > 11 && irrecv.decode(&results)) {
       timer = millis();
       current = IRkey();
@@ -108,6 +111,27 @@ bool testIR() {
   }
 }
 #endif
+void testDcDc() {
+  const int adcPin = 34;
+  const float R1 = 30000.0;
+  const float R2 = 51000.0;
+  const int adcMaxValue = 4095;
+  const float vRef = 3.3;
+  while (1) {
+    int adcValue = analogRead(adcPin);
+    float voltageMeasured = (adcValue / float(adcMaxValue)) * vRef;
+    float voltageInput = voltageMeasured * (R1 + R2) / R2;
+    if (voltageInput < 5.2) {
+      PTL("Wrong DcDc output!");
+      playMelody(DcDcBad, sizeof(DcDcBad) / 2);
+      delay(500);
+    } else {
+      PTL("\tDcDc Pass!");
+      playMelody(DcDcGood, sizeof(DcDcGood) / 2);
+      break;
+    }
+  }
+}
 void QA() {
   if (newBoard) {
 #ifdef I2C_EEPROM_ADDRESS
@@ -122,6 +146,9 @@ void QA() {
     if (choice == 'Y' || choice == 'y')
 #endif
     {
+#ifdef VOLTAGE
+      testDcDc();
+#endif
 #ifdef GYRO_PIN
       testMPU6050();
 #endif