# Bittle X 用户手册 🐶

更简单，更便捷！

## 入门

<figure><img src="https://2738814451-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FbQHpzoMzebGsqxePwWwJ%2Fuploads%2FUR6IOliWYQfa8viQwM37%2FStand%20up.png?alt=media&amp;token=ce4ec13c-6477-481d-9f54-e87aad2a6b5d" alt=""><figcaption></figcaption></figure>

如果您有关于“为什么”而不是“如何”的具体问题，请在我们的论坛上发帖，网址为 <https://www.petoi.com/forum> 或写信至 <support@petoi.com>。

{% hint style="info" %}
一些[配套应用软件](https://docs.petoi.com/v/chinese/ji-shu-zhi-chi/pei-tao-ying-yong-ruan-jian)以及[常见问题解答](https://docs.petoi.com/v/chinese/ji-shu-zhi-chi/chang-jian-wen-ti-faq)供您参考。
{% endhint %}

您可以通过在 [www.petoi.com/store](https://bittle-x.petoi.com/zhong-wen-1/www.petoi.com/store) 购物来支持我们。 我们的社交媒体（Instagram/Twitter/Facebook/GitHub）帐户&#x662F;**@PetoiCamp**。 通过标&#x8BB0;**#bittle #petoi #opencat** 分享您的成果或心得，我们一定为您转发！

{% hint style="info" %}
最近更新: 02/10/2023
{% endhint %}


# 1 🧘‍♂️ 准备上手

## 工具和附件

<table><thead><tr><th>工具</th><th>说明</th><th data-hidden></th></tr></thead><tbody><tr><td>Windows/苹果/Linux计算机</td><td>下载 <a href="https://github.com/PetoiCamp/OpenCat/releases">Petoi 桌面应用程序</a><br>安装 <a href="https://www.arduino.cc/en/software">Arduino IDE</a>（可选）</td><td></td></tr><tr><td>USB充电器</td><td>最低5V-1A</td><td></td></tr><tr><td>安卓/iOS智能手机</td><td>下载<a href="https://docs.petoi.com/v/chinese/shou-ji-ying-yong/xiao-zhun-yu-kong-zhi">手机应用</a>（可选）</td><td></td></tr></tbody></table>


# 2 🧩 打开包装

\[Bittle X 开箱视频]

收到预组装的Bittle X，需要将脖子插入身体并**将膝盖弯曲成自然角度**。将弯曲的舵机线从膝盖侧拉到肩膀侧，以避免在膝盖关节旋转时被挤压到。

<figure><img src="https://2738814451-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FbQHpzoMzebGsqxePwWwJ%2Fuploads%2F9tTqiiojfc5Y3rmwl14c%2FbootupPostureCh%20Large.jpeg?alt=media&amp;token=8d35e1bd-a0b8-4605-abc1-6eae4b95448b" alt=""><figcaption></figcaption></figure>

**长按**电池按钮2到3秒钟打开/关闭电源。拔下红外遥控器电池的绝缘片，然后您可以[控制BittleX的移动](https://docs.petoi.com/v/chinese/hong-wai-yao-kong/yao-kong-qi)。如果BittleX检测到电量低会暂停动作并哔哔叫，这时您需要用5V USB Type-C接口数据线给电池充电。考虑安全因素，充电时不可开机。

{% hint style="warning" %}
如果您的Bittle X小腿朝向正确但校准时不动，您可以将其向正确的方向旋转。 在关节锁定在正确位置之前，您应该会感觉到适度的阻力。 原因是新档位有点太紧，启动阻力大会触发保护算法。 舵机将减少关节上的力以避免过电流，这将使关节停止转动。
{% endhint %}

**蜂鸣器声音含义：**

| 声音类型 | 场合         | 说明          |
| ---- | ---------- | ----------- |
| 短旋律  | 通电或重启      | 程序启动成功      |
| 短哔声  | 使用过程中      | 程序收到指令      |
| 重复旋律 | 在使用或动作暂停期间 | 电池电量低或未连接电池 |

您可以跳过第3章 **配置主板**，第4章 **校准**。从第5章 [**动手玩Bittle X**](/zhong-wen-1/5-dong-shou-wan-bittle-x)开始继续阅读本手册。

{% hint style="warning" %}
**预组装的Bittle X仅经过粗校准**。 您仍然需要仔细校准其关节舵机以获得最佳性能。
{% endhint %}

{% hint style="warning" %}
摩擦在行走过程中的动态平衡中起着重要作用。尽管硅胶脚趾套可以改善抓地力，但它们也会因为不同地面表现出差异。因此，普通条件下建议您不使用硅胶脚垫。除非您自己可以调整步态，或需要很强的摩擦才能执行的特殊任务。
{% endhint %}


# 3 ⌨️ 组装 & 设置主板

## 组装与连线

{% hint style="success" %}
如果你使用的是预组装版 Bittle X，可以跳过这一小节。
{% endhint %}

Bittle X的组装流程与[Bittle](https://bittle.petoi.com/v/zhong-wen/4-zu-zhuang)完全相同，除了舵机与[BiBoard](https://bittle.petoi.com/v/zhong-wen/5-lian-xian#biboard)。

## 设置主板

预组装的 Bittle X 应该已经安装了截至生产日期的最新固件， 您可以直接跳转到第5章[**动手玩Bittle X**](/zhong-wen-1/5-dong-shou-wan-bittle-x)。

如果您想更新固件，您可以使用以下方法：

* 使用[**Petoi 桌面应用程序**](https://docs.petoi.com/v/chinese/zhuo-mian-ying-yong/zong-lan)。 这种方法不涉及编程。 其中包含一些预设模式供您选择。
* 如果您有一定的编程经验或想探索更多高级功能，您可以使用[**Arduino IDE**](https://docs.petoi.com/v/chinese/arduino-ide/wei-biboard-shang-chuan-cheng-xu)。 您可以为您的新项目修改我们的开源代码。

##


# 4 📐 校准

预组装的 BittleX 应该已经过校准。 您可以直接跳转到第5章[**动手玩Bittle X**](/zhong-wen-1/5-dong-shou-wan-bittle-x)。

如果您想自己调整关节校准参数，请参考文档中心的[关节校准](https://docs.petoi.com/v/chinese/guan-jie-xiao-zhun)。&#x20;

{% hint style="info" %}
对于预组装的Bitttle X，不需要将头部和腿部部件从身体上拆下来进行关节校准。
{% endhint %}


# 5 🕹 动手玩Bittle X

没有任何编程经验的用户可以通过以下4种方式来控制Bittle X：

* 使用[**红外遥控器**](https://docs.petoi.com/v/chinese/hong-wai-yao-kong/yao-kong-qi)
* 使用手机应用 [**Petoi**](https://docs.petoi.com/v/chinese/shou-ji-ying-yong/kong-zhi)
* 使用桌面应用程序[**技能创作坊**](https://docs.petoi.com/v/chinese/zhuo-mian-ying-yong/ji-neng-chuang-zuo-fang)
* 使用[**Petoi编程积木**](https://docs.petoi.com/v/chinese/tu-xing-hua-bian-cheng/petoi-bian-cheng-ji-mu)

如果你有一定的编程经验或想探索更高级的功能，可以尝试以下方法：

* 使用 [**Arduino IDE**](https://docs.petoi.com/v/chinese/chuan-kou-xie-yi)
* 使用 [**Python**](https://docs.petoi.com/v/chinese/api/serialmaster-shi-yong-zhi-nan)
* 使用 [**MicroPython**](https://docs.petoi.com/v/chinese/tong-xin-mo-kuai/wifi-mo-kuai-esp8266/micropython-kong-zhi-qi)
* 使用 [**ESP8266 + Python**](https://docs.petoi.com/v/chinese/tong-xin-mo-kuai/wifi-mo-kuai-esp8266/shi-yong-esp8266-+-python-jiao-ben-shi-xian-wu-xian-qun-kong)
* 使用 [**Raspberry Pi**](https://docs.petoi.com/v/chinese/api/tong-guo-shu-mei-pai-kong-zhi-ji-qi-ren)
* 使用[**扩展模块**](https://docs.petoi.com/v/chinese/kuo-zhan-mo-kuai/kuo-zhan-mo-kuai-gai-yao-shuo-ming)


# 6 👨‍🏫 教Bittle X新动作技能

如果您没有任何编程经验：

* 可以使用桌面应用程序[**技能创作坊**](https://docs.petoi.com/v/chinese/zhuo-mian-ying-yong/ji-neng-chuang-zuo-fang)

如果你有一定的编程经验：

* 可以[**编写Arduino程序代码**](https://docs.petoi.com/v/chinese/ying-yong-shi-li/ji-neng-chuang-zuo)


# Bittle X User Manual 🐶

Easier and more convenient.

## Getting Started

Bittle X is an open-source, voice-controlled robot dog. It's a new breed of robotics dog for everyone to learn and play with.

<figure><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FKMtaMMfz0Vt3FDQUi48M%2Fbittle%20x%20features%2020240316.jpg?alt=media&amp;token=c4633146-d251-4e32-aa14-38d77d40dec6" alt=""><figcaption></figcaption></figure>

The small but mighty Bittle X has these amazing features:

* Respond to voice commands, performing over **35 predefined actions** such as sit, push-up, and backflip with high-performance, lifelike movements. You can switch between English and Chinese using simple voice commands.&#x20;
* Can be programmed with **10 more customized voice commands** performing skills you create. The voice command can be any sound, so it's **free from languages**.&#x20;
* Support  **Petoi** **Coding Blocks(block-based Scratch-like), C++, and Python**.
* **Free** [C++](https://www.petoi.com/pages/free-cplusplus-quadruped-robotics-curriculum) and [Petoi Coding Blocks](https://www.petoi.com/pages/free-quadruped-robotics-curriculum-scratch-coding)(block-based Scratch-like) **curriculums**.
* Equipped with BiBoard, a high-performance **ESP32** development board supporting additional modules for robotics/AI/IoT applications.

Please start your BIttle X journey with [the getting started guide](https://docs.petoi.com/getting-started-guide).

[Bittle X V2 + Arm](/7-robot-arm)

<figure><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FGwqD4OjS3lHeQZoLThtH%2Fimage.png?alt=media&amp;token=c678ecf8-b4e5-4741-b6b6-f6c11efe52f1" alt=""><figcaption></figcaption></figure>

* It's an extension of Bittle X V2.  So you can follow the instructions for Bittle X V2 pre-assembled version first to the general operation of the robot dog.  Then follow [the robotic arm guide](/7-robot-arm) for the gripper operation.

If you have specific questions on “why” rather than “how”, please post on our forum at <https://www.petoi.com/forum> or write to <support@petoi.com>.

{% hint style="info" %}
There are some [supporting applications and software](https://docs.petoi.com/technical-support/supporting-application-and-software) and [FAQ](https://docs.petoi.com/technical-support/faq-frequently-asked-questions) for your reference.
{% endhint %}

You can support us by shopping at [Petoi open source robot shop](https://www.petoi.com/store). Our social media (Instagram/Twitter/Facebook/GitHub) account is **@PetoiCamp**. Share your build by tagging **#bittle #petoi #opencat** so that we can repost it for you!&#x20;

{% hint style="info" %}
Last Updated: 06/29/2023
{% endhint %}


# 1 🧘‍♂️ Preparation

## Tools and accessories

<table><thead><tr><th>Tool</th><th>Notes</th><th data-hidden></th></tr></thead><tbody><tr><td>A Windows/Mac/Linux Computer</td><td>Download <a href="https://docs.petoi.com/desktop-app/introduction">Petoi Desktop APP</a><br>Download <a href="https://docs.petoi.com/block-based-programming/petoi-coding-blocks">Mind+</a>(Optional)<br>Download <a href="https://docs.petoi.com/arduino-ide/upload-sketch-for-biboard#id-2.-set-up-biboard">Arduino IDE</a> (Optional)</td><td></td></tr><tr><td>A USB cable</td><td>The data transmission port is on the BiBoard. It is used for <a href="https://docs.petoi.com/upload-firmware">uploading firmware</a> and <a href="https://docs.petoi.com/arduino-ide/serial-monitor#biboard">serial communication</a>.<br>The <a href="https://docs.petoi.com/technical-support/battery#charging">charging</a> port is on the battery; a 5V 1A output should be enough.</td><td></td></tr><tr><td>A smartphone(Android/iOS)</td><td>Download <a href="https://docs.petoi.com/mobile-app/app-guide">mobile app</a> (Optional)</td><td></td></tr></tbody></table>


# 2 🧩 Open the Box

<figure><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FkKo1WA7vBKKLtmldz3kP%2Fimage.png?alt=media&amp;token=68c8c7b6-d7e8-4562-a65c-784813073583" alt=""><figcaption></figcaption></figure>

You may receive one of the following versions of Bittle X:

* Bittle X
  * Microcontroller Biboard V0
    * The groove connectors are on the [extension hat](https://docs.petoi.com/biboard/biboard-extension-hat) under the board's top surface.&#x20;
  * Support infrared remote control
* Bittle X V2
  * Microcontroller Biboard V1
    * The groove connectors are on top of the microcontroller
  * It doesn't support an infrared remote control

### Calibration Stand

{% hint style="info" %}
We have published the 3D structure and instructions of the bracket online. If you have a 3D printer, you can print it by yourself. Please check this page for the Bittle X (Bittle X+Arm, Bittle) calibration stand: \
<https://makerworld.com/en/models/1523424-calibration-and-test-stand-for-bittle-x-r-robot#profileId-1596686>\ <img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FbUxUHsAgDO5qNIOXBlXa%2FCali_Stand01.png?alt=media&amp;token=7914ab84-81ba-451e-b9a7-f9751e4f736f" alt="" data-size="original"><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FhcUnpZkBg72OCJOkCiOa%2FCali_Stand02.png?alt=media&amp;token=51c80598-b229-4173-b4b0-b91974ed9e59" alt="" data-size="original">

\
OR :\
<https://makerworld.com/en/models/457162-test-stand-for-petoi-bittle-robotic-dog#profileId-365135>\ <img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2Fd3jUgGrTGzNfJ2awHipy%2FstandWithCalibration.jpg?alt=media&amp;token=e2d85f66-f826-4ede-8dbb-d1f6f8688efb" alt="" data-size="original">
{% endhint %}

### **Touch Sensor Circuit Board**

<figure><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2F005xje4OzWHZsvoEAgeu%2Fimage.png?alt=media&amp;token=f52e3c83-86f8-40c4-8e61-a36fb6915d61" alt=""><figcaption></figcaption></figure>

For the Bittle X V2 with BiBoard V1, there is a flexible printed circuit (FPC)  attached to the inside of the back cover for touch functionality. Under normal circumstances, there is no need to remove it. If you wish to detach the back cover FPC from the microcontroller completely, please follow these steps:

* After opening the back cover, note the relative orientation between the microcontroller (**BiBoard V1**) and the back cover. There is a flip tab on the connector - lift this tab upward. Once the tab is flipped open, the cable beneath it can be fully detached along with the back cover and microcontroller.

Reconnecting the cable to the mainboard is the reverse process: align the cable, ensuring proper orientation, and press it firmly into place.

Here is the installation video:

{% embed url="<https://youtu.be/CLfEH9qIpLc>" %}

#### How to use the back touch mode

By default, the back touch mode is enabled for the **Bittle X V2**. There are two ways to enable/disable this mode manually:

* In the [serial monitor](https://docs.petoi.com/arduino-ide/serial-monitor)\
  Send the serial command "**XB**" to enable; Send the serial command "**Xb**" to disable.
* In the [mobile app](https://docs.petoi.com/mobile-app/controller#create-a-single-command)\
  Create a customized command with code "**X66**" to enable; Create a customized command with code "**X98**" to disable.

Once the back touch mode is enabled, you can touch the sensitive area on Bittle's back (as marked by the <mark style="color:red;">red</mark> dashed box in the figure below), and Bittle will perform a corresponding feedback action.

<figure><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FrCXDxmHQYkILjKNSd4rq%2Fimage.png?alt=media&amp;token=96b5c98c-7893-4394-9e2a-ac90d671b925" alt=""><figcaption></figcaption></figure>

## 2.1 Pre-assembled Bittle X

The following instruction is for pre-assembled BIttle X.  Note that Bittle and Bittle X are of the same family, so the instruction is the same.

{% embed url="<https://youtu.be/C63_iGDrAro>" %}

Insert the neck into the body and **bend the knees to natural angles**. Drag the curly wire from the knee side to the shoulder side to avoid squeezing when the knee joints rotate. Put the joints into the following posture before turning on the power.&#x20;

<figure><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FR0TGo86ulcjiAAAxCDel%2FbootupPostureEn%20Large.jpeg?alt=media&amp;token=0b3270a2-5acb-49aa-aebc-a8e952288b6b" alt=""><figcaption></figcaption></figure>

**Long-press** the battery's button for 2\~3 seconds to power on/off. **Unplug the insulation sheet** of the infrared remote's battery, then you can [control Bittle X to move](https://docs.petoi.com/infrared-remote/remote-controller). The robot will keep pausing its movements with beeping sounds when the battery is low. Then you need to charge the battery with a 5V USB Type-C cable. Considering safety, the battery won't supply power during charging.&#x20;

{% hint style="warning" %}
If your Bittle X's lower leg is in the right direction but doesn't move when calibrating, you may rotate it in the right direction. You should feel moderate resistance until the joint locks at the right position. The cause is that the new gears are a little too tight and the large bootup resistance will trigger the protection algorithm. The servo will reduce the force on the joint to avoid overcurrent, which will stop the joint from moving.
{% endhint %}

### **Buzzer beep meaning:**

The buzzer's beep meaning is the same as [Bittle's](https://bittle.petoi.com/2-open-the-box#buzzer-beep-meaning).

### Adjust the buzzer volume

For the mainboard - BiBoard, you can adjust the volume of the buzzer by serial command **b\[0-10]** in the serial monitor to change the volum&#x65;**,** for example: "**b3"** to change the volume to **3** (the full scale is **10**). "**b0"** will mute the buzzer, while "**b**" will toggle mute/unmute. If the volume is set to **0** and muted, it will be set to **5** when unmuted.

For how to open the serial monitor and input the serial command, please refer to [the instructions](https://docs.petoi.com/arduino-ide/upload-sketch-for-biboard#id-2.5-connect-to-biboard-via-usb-type-c-data-cable) in the Petoi Doc Center.

You can also use the serial command in the [mobile app](https://docs.petoi.com/mobile-app/controller#adjust-the-buzzer-volume-b-0-10) by creating a single command:

<figure><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FYrHTi2iBRLRt6rtnWtDO%2F%E8%B0%83%E8%8A%82%E9%9F%B3%E9%87%8F%E5%91%BD%E4%BB%A4.jpg?alt=media&amp;token=2e89529b-008d-4af3-8e61-409780dce982" alt=""><figcaption></figcaption></figure>

You can skip Chapter 3 **Board Configuration** and Chapter 4 **Calibration**. Go to Chapter 5 [**Play with BittleX**](/5-play-with-bittle-x) directly.&#x20;

{% hint style="warning" %}
**The pre-assembled Bittle X is only coarse-tuned.** You still need to calibrate Bittle X's joint servos and final assembly to fine-tune its joints for the best performance.&#x20;
{% endhint %}

{% hint style="warning" %}
Friction plays an important role in dynamic balancing during walking. Though the silicone toe covers (socks) can improve grip, they will also amplify the differences of the unpredictable surface of your test environment. So for regular use, we recommend running BittleX without the socks, unless you can tune the gait or need friction to perform some specific tasks.
{% endhint %}

## 2.2  Bittle X Construction Kit

If you order a Bittle X construction kit, you will build your own robot dog. You will learn more about robotics after understanding the design logic behind Bittle. Please follow the next chapter for details.&#x20;


# 3 ⌨️ Assembling & Board Setup

## Assemble & Connect wires

{% hint style="success" %}
You can skip this section if you get a pre-assembled Bittle X.&#x20;
{% endhint %}

Follow the [assembly](https://bittle.petoi.com/3-assemble-the-frame) and wire connection([for BiBoard V0](https://bittle.petoi.com/4-connect-the-wires/biboard-v0)) guide for Bittle and Bittle X.&#x20;

If you have Bittle X V2(as indicated on the package barcode label), you can follow [this assembly and wiring video tutorial](https://bittle.petoi.com/4-connect-the-wires/biboard-v1#wiring-instruction-for-biboard-v1).  &#x20;

{% hint style="info" %}
Note that Bittle X uses **BiBoard,** not **NyBoard.**   Different wiring is required for [BiBoard V0](https://bittle.petoi.com/4-connect-the-wires/biboard-v0) on Bittle X and [BiBoard V1](https://bittle.petoi.com/4-connect-the-wires/biboard-v1) on Bittle X V2.&#x20;
{% endhint %}

## Built-in Wired/Bluetooth/Wifi Modules

Bittile X comes with USB/Bluetooth/Wifi modules are built-in.  There's no separate module needed.

## Board setup

The pre-assembled BittleX should have installed the latest firmware by its production date. You may proceed to [**Play with Bittle X**](/5-play-with-bittle-x).&#x20;

However, if you want to update the firmware, you may use the following methods:

* Use the [**Petoi Desktop App**](https://docs.petoi.com/desktop-app/introduction). No programming is involved. You can play with some preset modes.&#x20;
* If you have some programming experience or want to explore more advanced features, you can use the [**Arduino IDE**](https://docs.petoi.com/arduino-ide/upload-sketch-for-biboard). You will be able to modify the open-source codes for your new projects.&#x20;


# 4 📐 Calibration

The pre-assembled Bittle X should have been calibrated. You may proceed to [**Play with Bittle X**](/5-play-with-bittle-x).&#x20;

However, if you want to adjust the calibration by yourself, please refer to the [Joint Calibration](https://docs.petoi.com/joint-calibration) in the Doc Center for more details.

{% hint style="info" %}
For pre-assembled Bittle X, there is **No** need to disassemble the head and leg parts from the body for joint calibration.
{% endhint %}


# 5 🕹 Play with Bittle X

### See [the Getting Started guide](https://docs.petoi.com/getting-started-guide).

There are 5 methods for users without any programming experience to control Bittle X:

* Use the [**voice commands**](https://docs.petoi.com/extensible-modules/voice-command-module#play-with-the-voice-commands).
* Use the [**IR Remote Controller**](https://docs.petoi.com/ir-remote/remote-controller).
* Use [**Petoi Mobile App**](https://docs.petoi.com/mobile-app/controller).
* Use the [**Petoi Desktop App**](https://docs.petoi.com/desktop-app/skill-composer).
* Use the [**Petoi Coding Blocks**](https://docs.petoi.com/graphical-programming-interface/petoi-coding-blocks).

If you have some programming experience or want to explore more advanced features, you can try the following methods:

* Use [**Arduino IDE**](https://docs.petoi.com/arduino-ide/serial-commands).
* Use [**Python**](https://docs.petoi.com/python/serialmaster-user-guide).
* Use [**MicroPython**](https://docs.petoi.com/communication-modules/wifi-esp8266/micropython-controller).
* Use [**ESP8266 + Python**](https://docs.petoi.com/communication-modules/wifi-esp8266/esp8266-+-python-scripts-implement-wireless-crowd-control).
* Use [**Raspberry Pi**](https://docs.petoi.com/api/raspberry-pi-serial-port-as-an-interface).
* Use the [**extensible modules**](https://docs.petoi.com/extensible-modules/introduction).


# 6 👨‍🏫 Teach Bittle X New Skills

If you have no programming experience:

* Use [the Skill Composer](https://docs.petoi.com/desktop-app/skill-composer) in the desktop app

If you have some programming experience:

* [Write Arduino code](https://docs.petoi.com/applications/skill-creation)


# 7 🦾 Robot arm

Bittle can be equipped with a robot arm, which we will refer to as **Bittle X+Arm**. This arm has more functions than Bittle and can perform more complex skills, such as grasping objects for display or relocating them to different locations.

<figure><img src="https://97989498-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FmRDa6shv5zOBEn468KU3%2Fuploads%2FGwqD4OjS3lHeQZoLThtH%2Fimage.png?alt=media&amp;token=c678ecf8-b4e5-4741-b6b6-f6c11efe52f1" alt=""><figcaption></figcaption></figure>

For more details, please refer to the [robotic arm chapter](https://docs.petoi.com/extensible-modules/robot-arm) in the doc center.&#x20;