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fix: your otto robot add 3D_Models an fix bug #469

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Merged
adwuard merged 7 commits into from
Dec 17, 2025
Merged

fix: your otto robot add 3D_Models an fix bug #469

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3cae1a3
Add GC9D01 display driver and update T5AI OTTO board configuration
wangluoben Dec 2, 2025
f23532c
add ninja otto
wangluoben Dec 2, 2025
f251b46
Merge branch 'tuya:master' into feature/your_otto_robot
laiibai Dec 2, 2025
ade2df9
fix servo init position
luobenwang Dec 14, 2025
d81151f
AI Contorl
luobenwang Dec 16, 2025
3ecfba0
add 3D_Models
luobenwang Dec 17, 2025
5b1f07a
Merge branch 'master' into feature/your_otto_robot
luobenwang Dec 17, 2025
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3 changes: 2 additions & 1 deletion apps/tuya.ai/your_otto_robot/include/tuya_config.h
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Expand Up @@ -23,7 +23,8 @@
*/

#ifndef TUYA_PRODUCT_ID
#define TUYA_PRODUCT_ID "aub53kai42j8fdlf"
#define TUYA_PRODUCT_ID "b05nl7xoijx4fwae" // Otto Ninja Robot
//#define TUYA_PRODUCT_ID "aub53kai42j8fdlf" // Otto Robot
#endif

#define TUYA_OPENSDK_UUID "uuidxxxxxxxxxxxxxxxx" // Please change the correct uuid
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3 changes: 3 additions & 0 deletions apps/tuya.ai/your_otto_robot/src/otto_ninja/3D_Models/LICENSE
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@@ -0,0 +1,3 @@
CC-BY-SA 4.0 and GPLv3
Original authors: cparrapa Brian,GreenShadeZhang, etc.
Original Community: Otto DIY
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38 changes: 22 additions & 16 deletions apps/tuya.ai/your_otto_robot/src/otto_ninja/otto_ninja_app_servo.c
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Expand Up @@ -302,8 +302,10 @@ void servo_write(uint8_t pin, uint16_t angle)
// Set duty cycle
tkl_pwm_duty_set(pwm_id, duty);

// PR_NOTICE("servo_write: pin=%d, angle=%d, pulse_width=%d us, duty=%d%%",
// pin, angle, pulse_width, duty);
// Calculate duty percentage (duty range 1-10000 corresponds to 0.01%-100%)
// float duty_percent = (float)duty / 100.0f;
// PR_NOTICE("servo_write: pin=%d, angle=%d, pulse_width=%d us, duty=%d (%.2f%%)",
// pin, angle, pulse_width, duty, duty_percent);
// Ensure PWM is running
tkl_pwm_start(pwm_id);
}
Expand Down Expand Up @@ -368,6 +370,15 @@ void servo_detach(uint8_t pin)
delay_ms(400);
#endif

// Attach leg servos
servo_attach(SERVO_LEFT_LEG_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
servo_attach(SERVO_RIGHT_LEG_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);

// Set leg positions
servo_write(SERVO_LEFT_LEG_PIN, LA0);
servo_write(SERVO_RIGHT_LEG_PIN, RA0);
delay_ms(1000);

// Attach feet servos
servo_attach(SERVO_LEFT_FOOT_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
servo_attach(SERVO_RIGHT_FOOT_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
Expand All @@ -377,14 +388,7 @@ void servo_detach(uint8_t pin)
servo_write(SERVO_RIGHT_FOOT_PIN, 90);
delay_ms(400);

// Attach leg servos
servo_attach(SERVO_LEFT_LEG_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
servo_attach(SERVO_RIGHT_LEG_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);

// Set leg positions
servo_write(SERVO_LEFT_LEG_PIN, LA0);
servo_write(SERVO_RIGHT_LEG_PIN, RA0);
delay_ms(400);


// Detach all servos
servo_detach(SERVO_LEFT_FOOT_PIN);
Expand All @@ -405,6 +409,7 @@ void servo_detach(uint8_t pin)
*/
void robot_set_walk(void)
{
PR_NOTICE("robot_set_walk");
#if ARM_HEAD_ENABLE == 1
// Arms to middle position
servo_attach(SERVO_LEFT_ARM_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
Expand All @@ -420,9 +425,9 @@ void servo_detach(uint8_t pin)
servo_attach(SERVO_RIGHT_LEG_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
servo_write(SERVO_LEFT_LEG_PIN, LA0);
servo_write(SERVO_RIGHT_LEG_PIN, RA0);
delay_ms(300);
servo_detach(SERVO_LEFT_LEG_PIN);
servo_detach(SERVO_RIGHT_LEG_PIN);
delay_ms(100);
//servo_detach(SERVO_LEFT_LEG_PIN);
//servo_detach(SERVO_RIGHT_LEG_PIN);

#if ARM_HEAD_ENABLE == 1
// Arms to final position
Expand All @@ -440,6 +445,7 @@ void servo_detach(uint8_t pin)
*/
void robot_set_roll(void)
{
PR_NOTICE("robot_set_roll");
#if ARM_HEAD_ENABLE == 1
// Arms to middle position
servo_attach(SERVO_LEFT_ARM_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
Expand All @@ -456,9 +462,9 @@ void servo_detach(uint8_t pin)
servo_attach(SERVO_RIGHT_LEG_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
servo_write(SERVO_LEFT_LEG_PIN, LA1);
servo_write(SERVO_RIGHT_LEG_PIN, RA1);
delay_ms(300);
servo_detach(SERVO_LEFT_LEG_PIN);
servo_detach(SERVO_RIGHT_LEG_PIN);
delay_ms(100);
// servo_detach(SERVO_LEFT_LEG_PIN);
// servo_detach(SERVO_RIGHT_LEG_PIN);

#if ARM_HEAD_ENABLE == 1
// Arms to final position
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30 changes: 29 additions & 1 deletion apps/tuya.ai/your_otto_robot/src/otto_ninja/otto_ninja_main.c
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Expand Up @@ -117,6 +117,7 @@ int get_mode_counter(void){

#define DPID_JOYSTICK_X 103 //joystick_x
#define DPID_JOYSTICK_Y 104 //joystick_y
#define DPID_DIRECTION 105 //direction
OPERATE_RET otto_ninja_dp_obj_proc(dp_obj_recv_t *dpobj)
{
uint32_t index = 0;
Expand Down Expand Up @@ -160,6 +161,33 @@ OPERATE_RET otto_ninja_dp_obj_proc(dp_obj_recv_t *dpobj)
break;
}

case DPID_DIRECTION:{
int8_t direction = dp->value.dp_enum;
if(direction == 0){
set_joystick_y(100);
set_joystick_x(0);
}
else if(direction == 1){
set_joystick_y(-100);
set_joystick_x(0);
}
else if(direction == 2){
set_joystick_y(0);
set_joystick_x(100);
}
else if(direction == 3){
set_joystick_y(0);
set_joystick_x(-100);
}
else if(direction == 4){
set_joystick_y(0);
set_joystick_x(0);
}

PR_DEBUG("direction:%d", direction);
break;
}


default:
break;
Expand Down Expand Up @@ -187,7 +215,7 @@ static void __example_otto_ninja_task(void *param)
PR_NOTICE("=== OttoNinja Servo Control Task Start ===");

main_init();

tal_system_sleep(1000); // Wait 1 second before starting
robot_set_walk();
while (1) {

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5 changes: 5 additions & 0 deletions boards/T5AI/T5AI_OTTO/Kconfig
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Expand Up @@ -38,4 +38,9 @@ choice T5AI_OTTO_EX_MODULE
bool "GC9D01 160x160 spi LCD"
select ENABLE_DISPLAY
select ENABLE_LVGL_OS_FREERTOS if (LVGL_VERSION_9)

config T5AI_OTTO_EX_MODULE_GC9D01
bool "GC9D01 160x160 spi LCD"
select ENABLE_DISPLAY
select ENABLE_LVGL_OS_FREERTOS if (LVGL_VERSION_9)
endchoice
8 changes: 4 additions & 4 deletions boards/T5AI/T5AI_OTTO/t5ai_otto.c
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Expand Up @@ -18,10 +18,10 @@
#include "tdd_button_gpio.h"
#endif

#if defined(T5AI_OTTO_EX_MODULE_13565LCD) && (T5AI_OTTO_EX_MODULE_13565LCD == 1)
#include "tdd_disp_st7789.h"
#elif defined(T5AI_OTTO_EX_MODULE_ST7735S_XLT) && (T5AI_OTTO_EX_MODULE_ST7735S_XLT == 1)
#include "tdd_disp_st7735s.h"
#if defined(T5AI_OTTO_EX_MODULE_ST7789) && (T5AI_OTTO_EX_MODULE_ST7789 == 1)
#include "tdd_disp_st7789.h"
#elif defined(T5AI_OTTO_EX_MODULE_ST7735S_XLT) && (T5AI_OTTO_EX_MODULE_ST7735S_XLT == 1)
#include "tdd_disp_spi_st7735s_xlt.h"
#elif defined(T5AI_OTTO_EX_MODULE_GC9D01) && (T5AI_OTTO_EX_MODULE_GC9D01 == 1)
#include "tdd_disp_gc9d01.h"
#endif
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