JWTechPublisher: Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex

2026-09-05T22:31:35Z

Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex

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'''Documentation notice:''' This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

== Summary ==
Technical overview of the PIPPY robot's assembly, software setup, and control.

== Related products at JW Tech ==
* [https://shop.jw-tech.eu/p/WSAL19525 WSAL19525 – PIPPY, an Open Source Bionic Dog-Like Robot Powered by Raspberry Pi (Optional)]
* [https://shop.jw-tech.eu/p/WSAL19526 WSAL19526 – PIPPY, an Open Source Bionic Dog-Like Robot Powered by Raspberry Pi (Optional)]
* [https://shop.jw-tech.eu/p/WSAL20972 WSAL20972 – PIPPY, an Open Source Bionic Dog-Like Robot Powered by Raspberry Pi (Optional)]
* [https://shop.jw-tech.eu/p/WSAL20973 WSAL20973 – PIPPY, an Open Source Bionic Dog-Like Robot Powered by Raspberry Pi (Optional)]

== Technical overview ==
* Controlled by an optional Raspberry Pi 4 Model B running Raspberry Pi OS (Raspbian) with Python.
* Powered by two series-connected 18650 batteries (not included); HY2120 + AO4406A protection circuit guards against overcharge, over-discharge, overcurrent, and short circuits.
* 9-axis motion sensor ICM20948 handles gestures and self-balancing; a 0.91-inch OLED (128×32) displays IP and battery voltage.
* The 5 MP camera with 160° field of view is required for vision features; without it connected to the Pi, webServer.py hangs.
* Web server runs on port 5000; access via Chrome at http://<Pi_IP>:5000. In AP mode, connect PC or phone to the PIPPY hotspot (SSID: PIPPY, password 12345678).
* Keyboard control: W/A/S/D for forward/left/backward/right; I/J/K/L for head movements (up, left, bow, right).
* API example: moveStart(speed, direction, turning); speed 1–50 uses tripod gait, 51–100 uses diagonal gait.
* Vision tracking via CVFL window: START enables binarization; COLOR toggles between black-floor-white-line and white-floor-black-line; L1/L2 and SP adjust line positions.

'''Commands and examples – verify before use:'''
<syntaxhighlight lang="text">
sudo git clone https://github.com/waveshare/PIPPY.git
sudo python3 PIPPY/setup.py
sudo killall python3
sudo python3 PIPPY/webServer.py
</syntaxhighlight>

== Notes and version constraints ==
* Servo angles must be calibrated via code before assembling the servo arms; post-assembly adjustment requires disassembling the unit.
* Use only black nylon screws to mount the camera; metal screws can cause a short circuit and damage the camera.
* Batteries are not included; only 18650 cells 18 mm wide and up to 65 mm long are compatible.
* If the console fails to open: access the Pi via SSH, terminate running Python processes, then restart webServer.py.
* An SP value that is too small prevents PIPPY from locking onto the target, causing frequent stops; a larger value increases tolerance.
* Color following works vertically only because the camera has 2 degrees of freedom; horizontal tracking is not supported.
* Dependency installation may take minutes to hours depending on network conditions; the Pi reboots automatically and drops the SSH connection.

== Source and revision record ==
* [https://www.waveshare.com/wiki/PIPPY PIPPY - Waveshare Wiki]
* Source revision: 79429
* Captured: 2026-09-01T04:25:36+00:00
* SHA-256: <code>6d42e63728083ed37a3a245c2fa894d582b005bd91654f261fd8d32f8b4d99c6</code>

WSAL19525 – PIPPY/en - Versionsgeschichte

JWTechPublisher: Freigegebene technische Dokumentation veröffentlicht; Text-only und noindex