Mini Quadruped Robot ESP32

Two years ago, I made a small quadruped robot with esp8266. This time I remade it with esp32C3. The main reason is that C3 has Bluetooth and can be remotely controlled with Bluetooth, which is very convenient. You can connect and play at any time without occupying the mobile phone WiFi.
And although esp32C3 has few pins, it can also reserve SPI interface in addition to the control of 8-way servos, so you can also add tft RGB display to the robot, and the robot has become more prominent.
The appearance 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, adding the upper and lower covers of the fuselage and the robot head, hiding the mainboard in the case, and using 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 WeChat applet. Since I am not good at writing applet, the host computer is currently just a simple demo. It is being submitted for review and may not be passed. If not, the source code of the applet is also open source. You can download the development environment of the applet and test it on the 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 ESP32 SDK first, and then select ESP32C3 as the development board. Hezhou's ESP32C3 development board Flash Mode: select DIO to run normally.
Hezhou 9.9's esp32c3 development does not have a serial port chip. The burning uses the esp32c3's own USB virtual serial port. Since the program occupies 18 and 19 IO ports, when burning the program, you need to press the BOOT button on the development board and then press the RES button to let the development enter the burning mode and then select the corresponding serial port and burn it. The version with a serial port chip does not need it. The
battery anti-reverse connection circuit is made with a mos tube, and the battery cannot be powered if it is installed in reverse.
 
The previous version was wrong and could not be used. It was difficult to receive express delivery recently, so I could only simplify the circuit. I deleted everything that should be deleted, but it did not affect the play. The 16340 battery of 5 yuan was tested to run for 15 minutes. Try to use a good quality battery and it should be able to play for a long time.
 
The WeChat applet Bluetooth remote control app has been approved. 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 screen bracket screws-------------------------M2.5*4 2 pieces.
                  Mainboard fixing screws-----------------------------------------M2*4 4 pieces.
 
Hezhou esp32c3 development board: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.37412e8dhEL4Ya&id=666579064570&_u=e2oqo1kf722cTwo-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 pin spacing: 0.5mm spacing specification: bottom connection)
1.14 inch LCD screen: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.24f92e8dvMZTeg&id=586409078629&_u=22oqo1kfce41 (plug-in)
 
Attachment file description: 3D printer STL file.zip Body 3D printing file
ESP32_C3_ISR_Servo.zip ESP32C3 uses interrupt mode to output PWM to control the servo library
ESP32C3_XiaoSiZu_BLE.zip Program source code
 
video introduction: https://www.ixigua.com/7159519651385311752?logTag=4e51eab73b0d4d9e10f0