Combat Bot

This is the codebase intended for use with 8 servo ultralight walking combat bot.

The code is seperated into 2 applications, the bot and the client, the bot being an ESP32 based on the Espressif ESP32 Dev board, the client is a cross platform Python desktop application.

The client acts as a controller for the bot, initially syncing via USB serial and then communicating wirelessy over a WiFi connection.

Hardware

The bot consists of 8 servos, nominally these are attached to GPIO pins 13, 12, 14, 27, 26, 25, 15, 2 on the ESP32.

The design is to have 4 of these servos attached together in a rectangle, with the armatures facing the opposite ends, this forms the up and down movements of the legs, with the body of the joined servos acting as a chassis for the ESP32 and batteries.

Attached to the armatures of these servos are 4 more servos controlling forwards and backwards movements of the legs.

The bot is running a thin server, once it has synced up, it will listen over TCP for 8 numbers between 0 and 180 for the positions of each servo repectively.

Hardware syncing

On power on or on reset, the bot will enter setup state, this will listen to commands over a serial USB connection, commands should be new line separated, \n, with setting commands should be a new line between the command and the data.

Setting WiFi SSID

SET_SSID\n
your_networks_ssid\n

Setting WiFi password

SET_PSWD\n
your_networks_password\n

Getting WiFi SSID

GET_SSID\n

Bot response

stored_network_ssid\n

Getting WiFi password

GET_PSWD\n

Bot response

stored_network_password\n

Connect to WiFi with provided details

CONNECT\n

Bot response(s)

CONNECTED\n
ip.address\n

Or

FAILED\n