Catbot

Quadruped Hybrid Pneumatic-Electric Robot. Utilizes McKibben Muscles for bio-inpired locomotion.

Setup

Install dependencies

• install python
• install nodejs
• install C/C++ extention for VSCode
• install Arduino extention for VSCode

Install python dependencies

Run the following command in the terminal:

pip install -r requirements.txt

for macos:

pip3 install -r requirements.txt

Install nodejs dependencies and catbot-cli

Run the following command in the terminal:

npm -g install
catbot

For more command information goto catbot-cli

Setup Arduino Extension

• Open src/arduino/arduino.ino in VSCode
• Click on Mac, Win32, or linux on the bottom right corner of the window and change to Arduino
• Click on <Select a Board Type> in the bottom right corner
• Search Arduino Nano
• Select Arduino Nano RP2040 Connect
• Go to command pallet (Ctrl+Shift+P)
• Search Arduino: Rebuild IntelliSense Configuration
• Click on Verify button on the top right corner of the window with a checkmark icon
• and make sure the code passes verification

Possible Errors on Setup

Include path error:

• Try editing the include path in .vscode/c_cpp_properties.json
• Click on Quick Fix... at the bottom of the error popup menu after hovering on the error
• Click on Add to "include path": "..."
• If the error occures with multiple include path options try adding them using the wildcard (**) operator
• Goto .vscode.c_cpp_properties.json in the root directory of the repo
• Example: "includePath": ["${workspaceFolder}/**", "/Users/doofenshmirtz/Library/Arduino15/packages/arduino/hardware/mbed_nano/4.0.8/cores/arduino/mbed/**"]

If all above fails:

• Consider using the arduino-ide and uploading the code through the ide

Contributing

Before contributing

• Make sure to read the state_management documentation
• Make sure to read the io_controller documentation
• Make sure to read the control documentation