Technology

Motion control

From six-wheel jump routines to desktop FOC balance.

Each platform ships with control you can actually read and change:

• WheelRobo — six-wheel wheel-legged drive, jump, and dance, with modified firmware for gamepad control and a jump that lands upright.
• Xiao Bu — compact desktop wheel-legged balance with FOC brushless motors and live web PID tuning.

Motor drivers, IMU fusion, and startup behavior are documented with the firmware that ships on each unit.

Vision & sensing

Perception is an add-on, not a lock-in:

• Mount a small camera on WheelRobo and experiment with object tracking or line following.
• Xiao Bu exposes Wi-Fi / BLE on ESP32-S3 so you can stream telemetry while you tune.
• Example tasks: balance logging, jump timing, simple tracking once a camera is attached.

Compute & connectivity

• ESP32-S3 — Arduino on Xiao Bu; Wi-Fi / BLE for teleop and web PID tuning.
• WiFi / WebSocket — WheelRobo phone-app control, retained alongside the gamepad.
• FOC brushless — vector-controlled motors on Xiao Bu for smooth, precise drive.
• Expansion — add a camera or extra sensors; firmware is meant to be forked.

Software & SDK

All platforms share a consistent developer experience:

1. Flash factory firmware or build from source on GitHub.
2. Run teleop and calibration scripts from the quick-start guide.
3. Extend with Python, C++, or block-based tools for classrooms.
4. Publish your project as a Playbook for the community.

Repositories include firmware, wiring diagrams, BOM references, and simulation stubs where applicable.