# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Hyun
summary: A wheeled-legged robot controlled by an ESP32, featuring an MPU6050 gyroscope, PM3510 brushless motors, and SimpleFOC drivers.
category: quadruped
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/HuGuoXuang/Hyun
  ref: c9ce1d1ee2c214fe73aebca1d41011edc36558b8
tools:
  - 3D printer
  - soldering iron
files:
  parts_3d: 3D/stl/
  images:
    - 图片/9.jpg
software:
  framework: arduino
build_steps:
  - title: Assemble the main PCB board
  - title: Assemble the FOC driver PCB
  - title: Assemble the magnetic encoder PCB
  - title: 3D print the robot structure
  - title: Install motors and encoders
  - title: Connect and configure the ESP32 and MPU6050
  - title: Upload the FOC driver firmware
  - title: Upload the main controller firmware
  - title: Calibrate the gyroscope and motor parameters
  - title: Test and tune the robot's movement