Project files

Py-Apple Controller Open-Source Quadruped Universal Controller

1 Introduction

Pineapple Universal Controller is a low-cost quadruped robot controller based on the ESP32 microcontroller chip and released under the open-source GPL-3.0 (opens in a new tab) license by Light Brother. The controller integrates all the necessary hardware for a quadruped robot and fully supports the Py-Apple Dynamics series of open-source quadruped control software.

There are two main open-source versions available: one is a fully integrated main control board, and the other is a discrete component main control board. These cater to different DIY needs, with the discrete component main control board currently being prioritized for open-sourcing. If you like the project, please give it a one-click triple-tap on Bilibili and Star the project!

Parameter Table

2 Components of the Pineapple Open-Source Quadruped Robot Project

You are currently viewing one of the sub-projects of the Pineapple Open-Source Quadruped Robot Project (opens in a new tab): the Pineapple Open-Source Quadruped Universal Controller (Py-Apple Controller). The Pineapple Open-Source Quadruped Robot Project is a large-scale, comprehensive open-source quadruped robot project. It consists of three main sub-projects:

• Py-Apple Dynamics Series: Open-Source Quadruped Control Software (opens in a new tab)
• Py-Apple Controller Series: Open-Source Quadruped Universal Controller (this project)
• Py-Apple Structure Series: Open-Source Quadruped Mechanical Structure (opens in a new tab)

3 User Support and Discussion Forums

• User support QQ group (Desktop-level quadruped robot dog exchange group PY PY DOG): 1071643412
• Discussion forum (Robot Dog Workshop): http://www.leggedrobot.cn/forum.php?mod=forumdisplay&fid=44 (opens in a new tab)

4 Py-Apple Controller Project Setup Method

• Step 1: Download the Controller version you need from this GitHub based on your intended use and requirements.
• Step 2: Use the PCB files to order a PCB from Taobao or JLCPCB.
• Step 3: Prepare all electronic components according to the open-source parts list.
• Step 4: Solder the universal controller by following the soldering tutorial (opens in a new tab).
• Step 5: Go to the Py-Apple Dynamics Series Open-Source Quadruped Control Software (opens in a new tab) to download the latest software as instructed, and flash the program by following this tutorial (opens in a new tab).
• Step 6: Use a computer to access this link (opens in a new tab) (preferably on a computer, as the channel may not open properly on other devices) to watch the remaining universal controller usage tutorials and parameter adjustment methods, and get started with the universal controller.

5 Open-source Development Information

• Py-Apple Controller GitHub repository: https://github.com/ToanTech/py-apple-controller (opens in a new tab)
• Pineapple Dog open-source quadruped robot project developer communication QQ group: 960502665

6 Py-Apple Controller Contributors

• Click to view the list of contributors

7 How to Join the Py-Apple Controller Open Source Project Development Team

• The Py-Apple Controller project is open source, and we encourage participation in modifying and contributing new mechanical structures: Click to view the guide on contributing to the Py-Apple Controller GitHub repository (opens in a new tab)
• Feature ideas and bugs can be posted to the Issue list: Click to visit the ISSUE LIST (opens in a new tab)
• For other participation-related questions, contact the project managers and contributors: Click to view contact information

8 Current Features of Py-Apple Controller

The latest version is Py-Apple Controller V4.0. The open-source version currently supports direct insertion of components. The implemented features include:

• Stable Wi-Fi support
• Stable Bluetooth support
• Stable MPU6050 gyroscope support
• Stable servo motor support, including stepless servo voltage adjustment (5V-8V) and up to sixteen PWM servo channels
• Extended I/O, CAN, and serial port support