[Open Source] Using ESP32C3 to make a mini quadruped robot

I have made a small quadruped robot with esp8266, and I remade it with esp32C3 this time. 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 by author jasonleung8866 on T station. The page address is: 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 casing, 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.