Quick Start (XIAO ESP32S3)

1. Hardware Architecture

1.1 Drive & Power (RUC‑01 Interface Board)

Acts as the power/communication hub managing the bus and power distribution:

Servo Bus: 4 on-board bus-servo ports (daisy-chain supported) carrying signal and power.
PC Configuration Software Port: USB Type‑C for direct connection to the PC Configuration Software.
System Power: Voltage conversion and stable supply for the controller.
Communication: Standard UART Serial Port to receive commands from the host controller.

1.2 Logic Controller & Expansion (MCU + Grove Shield)

The robot’s “brain” running control algorithms and processing sensors:

Core MCU: Seeed Studio XIAO series — compact and capable.
Ecosystem: Grove expansion board exposing rich I/O.
Main Role: Run robot kinematics and connect sensors (ultrasonic, vision, voice, etc.) via Grove for interactive functions.

1.3 Data Flow

Debug/Editor Mode

PC --(USB)--> RUC‑01 --(Bus)--> Servos

Note: Adjust Servo angles and save motion groups directly from PC; the XIAO is bypassed.

Autonomous Mode

Sensors/Remote --(signals)--> XIAO --(UART cmds)--> RUC‑01 --(Bus)--> Servos

Note: XIAO controls the robot based on sensors or preloaded code.

2. Mechanical Structure

Structure overview and default Servo IDs

Zero‑degree posture of all Servos

3. Motion Editor Guide

Web Motion Editor: Open

3.1 Editor Layout

Three modules:

Serial connect/disconnect and message status
Servo status/angle query & control
Motion group optimization and import/export

3.2 Controls

3.2.1 Connect / Disconnect Serial

3.2.2 Real‑Time Posture Page

Layout: Drag each Servo widget on the canvas to place robot parts; IDs correspond; click to lock the layout.
Scan: Re‑scan all online Servos.
Check: Over/under‑voltage protection, stall, and other abnormal states.
Read Once: Read current angles once.
Status Colors: Green = angle‑control; Red = release/damping.

Angle control by dragging:

Real‑time Read: Continuously read Servo angles.
Speed: Limit speed while dragging to avoid moving too fast.
Unlock Modes: Release Servos for teaching (power‑off release / damping release).

3.2.3 Motion Group Page

Motion Groups: Unlimited user‑defined groups.

Add Group

Check Abnormalities (over/under‑voltage, stall)

Delete Group (keep at least one)

Verification: Validate motions.

Loop

Stop

Reorder: Drag to change order.
Time: Duration to reach target angle (e.g., 2 s).
Interval: Wait time between motions.

Delete Motion

Run Motion

Add Current Motion

Export Motion Group

Import Motion Group

3.3 From Editor to Offline Motions (XIAO ESP32S3 Sense)

1. Click “Connect” to open the Serial Port.

2. Select the target Serial Port.

3. Scan all Servos on the robot.

4. Click “Release All” to free all Servos for manual posing; or unlock the ones you need.
5. Set “Time” and “Interval”.
6. After each edit, click “Add Current” to append it to the group.
7. Play to verify.

Note

Each motion can be edited (angles, time, interval) and validated individually.

8. Click “Export (JSON)” to export the motion group.

9. Open the exported JSON and copy the frames content (including the surrounding []).

10. Replace jsonData in your program with the copied content; build/flash and control the robot with a Bluetooth gamepad (see “Robot Control Parameters”).

4. Robot Control Parameters (adjust as needed)

4.1 Defaults

BAUDRATE: UART baud rate.
SERVO_NUM: Number of Servos.

4.2 Bluetooth (if used)

BLE_NAME: Gamepad name.
BLE_UUID: Gamepad UUID.

4.3 Web Remote (if used)

SERVICE_UUID: Service ID.
CHARACTERSTIC_UUID: Characteristic ID.

4.4 Teaching Mode

MAX_ACTIONNUM: Max number of motion groups in teaching mode.
Default_RobotRunSpeed_Demonstration: Default run speed.
MIN_RobotRunSpeed_Demonstration: Maximum run speed.
MAX_RobotRunSpeed_Demonstration: Minimum run speed.
Adjust_RobotRunSpeed_Step: Speed step when adjusting teaching‑mode speed (±200 each time).

4.5 Data Fields (customize as needed)

RemoteControl_DefaultDemoAction: Default demo action (exported from the editor).
RemoteControl_Exe: Teaching‑mode execute command.
RemoteControl_Record: Teaching‑mode record command.
RemoteControl_Damping: Damping‑mode command.
RemoteControl_Reset: Reset command.
RemoteControl_ReduceRunSpeed: Decrease teaching‑mode run speed.
RemoteControl_AddRunSpeed: Increase teaching‑mode run speed.

Bluetooth note: Actual controller data depends on your device; define buttons in code as needed.

Web remote note: Likewise, confirm data and key mapping before integrating.

4.6 Reset Angles

ROBOT_RESET_POSITION_0 ~ ROBOT_RESET_POSITION_9: Zero positions of Servo IDs 0‑9 (robot reset pose).

Note: Modify according to your robot’s reset pose.

5. Remote Control

5.1 Bluetooth Gamepad

Long‑press to power on the gamepad and pair with the MCU (XIAO_ESP32S3).
When paired, the robot bows and resets.

Actions:

“Run default motion”: run the built‑in motion.
“Reset robot”: go to the reset pose.
“Damping mode”: enter a freely movable state for teaching.
“Record teaching motion”: record the current motion.
“Execute teaching motion”: run the recorded motion (not cleared by default).
“Decrease teaching speed”: reduce the run speed (right arm Servo ID 6 swings to indicate speed).
“Increase teaching speed”: increase the run speed (right arm Servo ID 6 swings to indicate speed).

5.2 Web Remote (Phone/PC)

Web Bluetooth Remote: Open

Disconnected:

Pair device then connect:

Connected: on success, the robot bows and resets.

All key definitions: red keys in btn_Main; yellow keys in btn_border.

Demo defaults:

Red
0X01: Increase teaching speed (right arm Servo ID 6 swings to indicate speed).
0X02: Decrease teaching speed (right arm Servo ID 6 swings to indicate speed).
0X04: Record teaching motion.
0X08: Execute teaching motion.
0X10: Run default motion.
0X20 ~ 0X80: not defined.
Yellow
0X01 ~ 0X02: not defined.
0X04: Damping mode.
0X08: Reset.
0X10 ~ 0X80: not defined.

6. Appendix

Fashionstar Servo Wiki: https://wiki.fashionrobo.com/
SDKs: STM32 / Python / ROS / C++ / Arduino