PicoCat

OpenCat - MicroPython core by Kevin McAleer For the Raspberry Pi Pico

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This project has the following goals:

• create a Python based code to control the cat

• Implement inverse kinematics

• Implement smoother Motion transitions, include Ease-in, Ease-Out, Easy-Ease

• Self Balancing code to keep the robot upright

• Create code to self right the robot if it goes upside down

• upgrade the servos from SG90s to MG90s

• Approach - how we will approach this project

• Modelling Servos

• Reading Telemetry data

• Bluetooth Control

• Inverse kinematics

• Transitions and smooth animation of servo movements - ease in, ease out, linear, time based not delay based.

Classes:

1. Servo
   • angle
   • name
   • pin
   • max_angle
   • min_angle
2. PicoCat
   • stand
   • sit
   • wag
   • name
3. MPU6050
4. RangeFinder