The XiaoZhi AI Walking Base enables precise control over the robot’s walking and turning motions.

I. Components:

    1. SG90 Servo Motor, 2. Dual-Axis TT DC Gear Motor, 3. H-Bridge Motor Driver Module (two-channel), 4. XiaoZhi Accessories (no need for further elaboration)

II. Functions:

    Control the motor and servo actuators

III. Notes:

    1. All components must be assembled; 2. Use adhesive to secure connections between parts (refer to the assembly diagram).

IV. Firmware:

    Several firmware versions are available—burn the version that best suits your application needs.

    The firmware file shared via cloud storage: XiaoZhi Control Firmware – Walking.zip
Link: https://pan.baidu.com/s/1krFXx3FBhKsOIz4nXEcR1Q | Extraction Code: jk88

V. Control Modifications:

    1. There are a few minor issues with the program, but I’m too lazy to make extensive changes—so here’s what we’ll do: (Reconfigure the two input pins on the motor driver module to GPIO18 and GPIO19), 2. Make adjustments in the background.

Commands:

    Upon startup, the servo motor defaults to 90°. If no command is received, the servo remains at 90°. When the system detects a command like “turn left,” it rotates the servo to 70° for 2 seconds, then returns to its original position. Similarly, when the system hears a command like “turn right,” it rotates the servo to 110° for 2 seconds before returning to its default position.

When the system receives a “stop” command, both the motor and the light are turned off simultaneously; when it receives a “move forward” command, the light is switched off while the motor runs continuously for 8 seconds—after which both devices are shut down together, marking one step forward; when it receives a “move backward” command, the light is turned on while the motor is stopped for 8 seconds—after which both devices are shut down together, marking one step backward. When the system hears a “dance” command, the servo motor cycles between 60° and 120°, then back from 120° to 60°, repeating this sequence five times—finally settling at 90° before taking one step forward and one step backward. To move “left,” the robot maintains a leftward angle for two steps, then turns 90°—and similarly for “right,” “left back,” and “right back!” To execute a “U‑turn,” the robot first moves forward while turning right for two steps, then moves backward while turning left for two steps, followed by another two steps forward while turning right, then two steps backward while turning left—and finally settles at 90°.