BiBoard is an ESP32-based robot microcontroller board developed by Petoi. With a high-performance processor, larger memory and storage, and wireless connections, it is mainly designed for developers and engineers working on multi-degree-of-freedom (Multi-joint) robots with up to 12 servos. An audio function is also included.

Features

Drive 12 PWM servos
An IMU (Inertial Measurement Unit) is used for detecting body status (orientation and acceleration) to balance
Infrared remote controller (only on the V0 board)
4 Grove sockets for external modules.
USB Type-C port for uploading firmware and serial communication.
64Kbit I2C EEPROM (optional on the V1 board)
DAC and audio application.
- Built-in connectivity support
- Serial
- Bluetooth
- WiFi
Compatible with Petoi open source quadruped robotics kits, such as robot dog Bittle X and robot cat Nybble Q
Raspberry Pi support
- The V1 board provides a 5-pin socket for mounting Raspberry Pi directly.
- For the V0 board, you must use wires or adapters to mount the Raspberry Pi on the BiBoard. The Pi allows robotics kits such as Bittle to analyze more complex sensory data, connect to the Internet, and make decisions by itself.

The source code is open-source on GitHub and has a detailed user manual.

Example application

Petoi's bionic robot dog Bittle fully utilized BiBoard to coordinate 8 degree-of-freedom(DOF) sophisticated motions.

Bittle walks over an 8.5cm(3.35 inch) gap. More details from the tutorial.

Specifications

Features	BiBoard V0	BiBoard V1
Structure	Stacked	Single board
Size	65mm x 56mm x 18 mm	65mm x 56mm x 15mm
CPU	16MB ESP32	4MB ESP32 mini
PWM servo sockets	12x PWM. Pin 2 cannot read feedback	12x PWM. pin 27 shared with LED
Working voltage	USB or 7.4V battery
IMU (Inertia Measurement Unit)	MPU6050	Default: ICM42670 Optional: MPU6050
Constants storage	I2C EEPROM	Default: Onboard flash Optional: I2C EEPROM
Fuse cutoff current	3A	5A
USB converter	CP2102	CH343
Programmable LED	/	1x PWM LED shared with one servo pin
Raspberry Pi port	It has the pinouts, but doesn't have a dedicated socket for the Pi. Not recommended for Raspberry Pi.	It has a 5-pin socket to attach the Pi. It can power the Pi and communicate with it via the serial port. Support Raspberry Pi 3 A+, 3B, 4, 5.
Touch pad socket	/	On top
Infrared receiver	On top	/
UART2 Dial switch	On an extension hat	/
Voice command module	On an extension hat	On top
Speaker	On the extension hat	On bottom
Four Grove Sockets with two pins in each socket	On extension hat: 2x double Analog input 1x I2C 1x UART2 shared with voice module	On top: 2x double Analog input 1x I2C 1x independent UART2

BiBoard V1 has the voice command module built into the board

Please see the documentation for more details.

BiBoard V0 with extension hat and voice command module

See the documentation for more details.

Discount for existing customers upgrading

If you are an existing customer with older generations of Bittle, Nybble running on NyBoard or BiBoard V0, and want to upgrade to use BiBoard V1, please contact us for a special upgrade discount.

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