1Fork the Smallkat configuration
Before building anything, lets load up our personalized copy of the SmallKat framework. Navigate to the Greycat repository and fork it:
Once you have it forked, modify
Open MediumKat.xml and do the same on line 8.
You now have a fork of the MediumKat configuration with a hardware launcher!
2Launch your fork of SmallKat
Download and install BowlerStudio and Java 8.
Open BowlerStudio and login with your Github username and password.
Use the Github menu to navigate to your fork of greycat and open launch.groovy
Use the run button to launch your robot. A simulation of your robot will open on the 3d window. You can make it walk using the arrows in the top right of the Creature Lab tab.
3Print all the parts
All STL's can be found here:
4Fork/Clone the servo Server code
Install the dependent libraries:
ESP32Servo SimplePacketComs Esp32SimplePacketComs Esp32WifiManager Adafruit Unified Sensor Adafruit_BNO055
Program the ESP32 your Fork (or clone) of the server for the ESP:
Use the instructions here to attach it to a wifi network or host a network:
5Wire the Power
The 3 ESC's should be used to power the system. One should power the ESP32 using the 5v in pin. One should power half the servos and the third should power the rest of the servos.
6Connect the servos
Attach the servos on the following pins:
- basePan = 2
- baseTilt = 4
- elbow = 15
- basePan = 5
- baseTilt = 17
- elbow = 16
- basePan = 23
- baseTilt = 19
- elbow = 32
- basePan = 13
- baseTilt = 12
- elbow = 14
- basePan = 27
- baseTilt = 26
- basePan = 33
- baseTilt = 25
7Assemble the SmallKat
Assemble all small cat plastic pieces with servos.
Do not add the horns to the servos.
Power on the servos to set them to where the software expects 0 to be. Load your fork of greycay launch.groovy.
Attach horns to powered on servos to match the 3d model one at a time. Run the walking cycle to verify wiring as you go.
8Fine tune servo positions
Use the Hardware Config window on a given link to adjust the ZeroDegrees Value. When adjusted, be sure to hit publish to save changes.
9Adjust waking parameters
In the creature lab, click on Edit Walking Engine to open the waking engine script. Adjust the parameters to change how your SmallKat walks.
10Add a Game Controller
Get a second ESP32 and install the following libraries:
WiiChuck Esp32SimplePacketComs Esp32WifiManager SimplePacketComs ESP32Servo EspWii
Open Controller Server from the EspWii examples and program it.
Connect and Wii accessory to the i2c ports.
Use the serial to connect it to WiFi