Release Notes:

1. Add a logging function.

2. Add a Debugger function to provide convenient tools to debug the robot.

3. Allow controlling all the joints in the Calibrator and Skill Composer.

The latest firmware includes the following feature updates:

OpenCat:

• Fixed some bugs
• Added the camera mode demo for Nybble
• Added the ultrasonic mode demo for Bittle)
• Improved light sensor working mode (calibrate the light sensor after sit down)

OpenCatEsp32:

• Fixed some bugs
• Added follow-motion demo for feedback servo
• Added camera mode demo for Nybble
• Added the ultrasonic mode demo for Bittle
• Added the function to modify Bluetooth name using serial port command "n"
• Added the function to switch different working modes using the serial port command "X*," such as "XA," "XT," etc.

Improved User Experience for the Petoi Desktop App:

When opening the firmware upload panel, if only one serial port device is detected, the firmware upload page will be opened directly, and its serial port device name will be displayed in the serial port option. If no serial port is detected or there are multiple serial port devices, a prompt box will prompt the user to unplug and replug the USB data cable from the computer. The selected serial port will not be opened until uploading the firmware.

For NyBoard, when the IMU calibration fails during the upload parameter process, a prompt box will pop up to remind the user to dial the switch on the bottom of NyBoard to the Arduino side. After the user confirms and clicks OK, the program will continue upgrading the firmware.

For BiBoard, you only need to upload the standard firmware, and you can switch different sensors and quickly demonstrate working modes by serial port commands "X[*], where "*" is the sensor code.

Additional Notes:

This update includes bug fixes and improvements for both OpenCat and OpenCatEsp32 firmware.
The user experience has been improved by automatically detecting serial port devices and providing more helpful prompts.
Instructions are provided for serial port commands to switch sensors and working modes.

• Add the support for reading the ultrasonic sensor in Mind+.
• Both the one-pin and two-pin ultrasonic sensors are supported.

Fixed the following bugs:

1. The SkillComposer cannot tune Nybble's eye colors.
2. After closing the color picker, The main window will cover the eye color window.
3. When changing the product to Bittle X, the Mainboard's version is not updated to BiBoard.

• Prompt warning to connect the battery power when opening the Calibrator and Skill Composer.
• Tune Nybble's behaviors.

• Allow changing the volume of BiBoard: use b0~10 to change the volume. b0 will mute the buzzer, while b will toggle mute/unmute. If the volume is set to 0 and muted, it will be set to 5 when unmuted.
• Allow the Firmware Uploader to factory reset the BiBoard.

• Fix the bug that after switching the voice module's language using the mobile app's customized button, the robot may not respond to new app commands.

• Add BiBoard V0_1 and V0_2 in the Firmware Uploader's board options.
• In OpenCatESP32, print the robot's messages to all connected ports.

• When exporting a skill from Skill Composer, automatically save it to /Users/{username}/.config/Petoi/SkillLibrary/. Note the .config is a hidden directory but can be visited in the terminal or through a specific view setting.
• Allow Mind+ to call multiple skills saved in the SkillLibrary.
• Add Bittle X as an explicit model in the Firmware Uploader of the desktop app.
• Fix bugs.

• Unify the format of the path string.
• Fix bugs.

• Include the creator information in the skill file exported from the Skill Composer.
• Fix bugs.

• Automatically detect the new serial port in Firmware Uploader.
• Add more options when uploading firmware.
• Add a Mind+ mode to allow the robot to work with our Mind+ block-based coding interface.
• Add many new skills to Nybble and Bittle.
• Add a simple serial port input field in Skill Composer.
• Add German and Thai support.
• Fix bugs.

• In SkillComposer, allow importing multiple skills from OpenCat/src/instinctX.h and create a dropdown menu to select the skills.
• In Calibrator and SkillComposer, added a unplug and replug mechanism to decide the serial port connected to the robot when the automatic connection failed; Added a manual selection mode if the first two connection methods failed.

• Improve the compatibility of older Mac computers.
• Reduce the chances that the app freezes when dragging sliders in Skill Composer.

This is the pre-compiled binary/executable corresponding to the source code in OpenCat/pyUI. It provides a simple graphical user interface instead of the raw OpenCat code. You can use it to upload the firmware, calibrate the joints, or create new skills for the robot. More details are covered in the user manual.