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Warning
Please pay attention to the following issues:
 There are small components included in this kit. Make sure it's not reachable for children
under 6 years old in case swallowing mistakenly. If accident occurs, please seek medical help
immediately.
 Parental guidance recommended for young children.
 Do not place the products or the components near any AC socket or other circuits to avoid
electric shock.
 Keep away from any liquid or flame when using the product.
 Store the product in amicable environment, avoid extreme temperature and humidity.
 Turn off the power after use.
 Do not touch the moving part of the product or interfere it with any physical objects or
signals in case damages to the product or fire generated by over heat.
 Product may be warm during use.
 Do not reverse the cathode and anode of the power in case damages to the circuit.
 Refer to instructions before use.
 Handle the product gently, avoid vigorous shaking or slamming.

About
Adeept is a technical service team of open source software and hardware. Dedicated to applying
the Internet and the latest industrial technology in open source area, we strive to provide the
best hardware support and software service for general makers and electronic enthusiasts
around the world. We aim to create infinite possibilities with sharing. No matter what field you
are in, we can lead you into the electronic world and bring your ideas into reality.

The code and manual of our product are open source. You can check on our website:
http://www.adeept.com/

If you have any problems, feel free to send an email for technical support and assistance:
[email protected]

On weekdays, we usually will reply within 24 hours. Also welcome to post in our official forum:
http://www.adeept.com/forum/

Copyright
This user manual and code can be used for learning, DIY, refitting, etc., except for commercial
purpose. The Adeept Company owns all rights of contents in the manual, including but not
limited to texts, images, data, etc. Any distribution or printing should be implemented with the
permission of the Company, or it will be deemed illegal.
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Contents
Contents...............................................................................................................................................3
1.Component List................................................................................................................................ 4
1.1.Acrylic Plates......................................................................................................................... 4
1.2.Machinery Parts.................................................................................................................... 5
1.3.Electronic Parts......................................................................................................................5
1.4.Tools....................................................................................................................................... 7
1.5.Self-prepared Parts................................................................................................................7
2. Install the software..........................................................................................................................8
2.1.Install the Arduino IDE.......................................................................................................... 8
2.2. Install the library files.........................................................................................................10
2.3.Install the driver.................................................................................................................. 14
2.4. Upload program................................................................................................................. 16
3.Assembly........................................................................................................................................ 21
3.1.Preparations before Assembly............................................................................................21
3.2. Servo debugging.................................................................................................................23
3.3 Install and Remove Batteries.............................................................................................. 24
3.4 Assemble the legs................................................................................................................27
3.5 Assemble the other parts of the robot............................................................................... 35
4. Program debugging....................................................................................................................... 51
5.Install the upper computer control software Python....................................................................52
5.1.Download software.............................................................................................................52
5.2. Control the robot................................................................................................................56
6.Afterword....................................................................................................................................... 58

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1.Component List
1.1.Acrylic Plates

A0-1
A0-1 1PCS
A0-1
1PCS
1PCS

A0-1

A0-1 A0-1 1PCS

1PCS 1PCS

A0-1
A0-1 1PCS
A0-1
4PCS
8PCS

A0-1
A0-1 A0-1
A0-1 2PCS
7PCS 5PCS
5PCS

The acrylic plates are fragile, so please be careful when assembling them in case of breaking.
The acrylic plate is covered with a layer of protective film. You need to remove it first.Some holes
in the acrylic may have residues, so you need to clean them before use.

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1.2.Machinery Parts

M2 M3 M2*8 M2*14 M2.5*8

Nut Nut Screw Screw Screw

X28 X21 X24 X4 X14

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M3*8 M3*10 M3*15 M3*20 M3*22

Screw Screw Nylon Nylon Nylon
Standoff Standoff Standoff
X36
X19 X4 X4 X4
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M3*40 M3*8 M2.5*4 M1.7*6*6 M1.4*6

Nylon Countersunk Screw Self-tapping Self-tapping
Head Screw
Standoff Screw
Screw X2
X6 X12 X4
X2
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M2*6 M2.5*11
Copper Copper
Standoff Standoff
X4 X2
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1.3.Electronic Parts
Esp-8266 WiFi Module X1 Servo X14

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MPU-6050 X1 Adeept Ultrasonic Module X1

AdeeptPixie X1 18650 Battery Holder Set X1

WS2812 LED Module X2 3-Pin Wire X2

4-PIN Wire-1 X1

Female to Female Dupont Wire X10 IR Reciver x1

Remote Controller x1 4-Pin Wire-2 X1

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1.4.Tools
Cross Screwdriver X1 Cross Socket wrench X1

Large Cross-head Screwdriver X1

Flathead Screwdriver X1

Winding Pipe X1 300mm*2

Ribbon X1

1.5.Self-prepared Parts
18650 Battery X2

18650 battery specification:

It is recommended to use lithium battery above 3000mAh and without overcurrent
protection. The power supply current requirement is above 3A. Using 18650 lithium
battery with overcurrent protection function, 18650 battery whose capacity is less than
1700mAh, 18650 battery specially for strong-light flashlight, 18650 battery with power
shortage or counterfeit lithium battery produced by informal manufacturers will cause the
unstable work of the robot,power cut and even damage to the Raspberry Pi and robot.
The robot can be turned on normally,but the robot will automatically restart or shut down
after, also because of the problem caused by the 18650 battery.

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2. Install the software

2.1.Install the Arduino IDE
1.Type the arduino.cc in the browser and download the arduino IDE.

2.Download different versions depending on the operating system.

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3.Install，remember your installation directory.

（remember your installation directory）

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2.2. Install the library files

Enter https://www.adeept.com/learn/ on browser, and download the code, library

files and driver file.

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Copy the four library files Adafruit_NeoPixel, Servo,IRremote and SR04 to the libraries
file in the installation directory of Arduino IDE.

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2.3.Install the driver

1.Connect the control board and open Arduino, you will see the serial port is not accessible, meaning
that you have not installed the serial port driver.

2.Open the driver program, install corresponding driver according to the computer operating system.

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3. Click to install.

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4.Now you will find the Arduino serial port is accessible (different computer configuration has different serial
port).

2.4. Upload program.

1.Turn on the power and switch program upload to 0.

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2.Open Arduino software and select the control board.

3.Select serial port(different computer configuration has different serial port)

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5.Upload program.
Two sets of code are provided, the infrared remote control (four_feet_robot_wifi) and wifi control
(four_feet_robot_infrared). Upload the code according to your need.

Because the servo has a certain angle error, when you finish installing the servo, you may find that the four legs
of the robot cannot stand on the same level,and you need to fine-tune the angle through the program. (The
variable angle0-angle11 corresponds to 12 servos respectively)

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6.After uploading, turn off the power and switch to 1, and then turn it on.

Run the program: LED is yellow when turned on.

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After the Wi-Fi and attitude sensor are debugged (about 30 second), LED changes to blue.

Now you can start to control the robot. (Note: After turning on the power, lay flat the robot when the LED does
not turn to blue yet. Do not move the robot during the process because the attitude sensor is calibrating and
reading the data.)
Install the servo: When the LED turns blue, install the servo (do not turn off the power).

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3.Assembly
3.1.Preparations before Assembly
1.Connect the Adeept Ultrasonic Module with 4-Pin wire.
Assemble the following components
Adeept Ultrasonic Module x1

4-Pin wire x1

Effect diagram after assembling

Connect the WS2812 LED Module

Please note that the end marked with white strip is the signal input, and the end without
white strip is the signal output.
The end marked with white strip is the
signal input
The connection between two
WS2812 LED

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Connect Esp-8266 WiFi Module

Connect Female to Female Dupont Wire and IR Reciver x1

Connect 4PIN-2 and MPU-6050r x1

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3.2. Servo debugging

Connect 18650 Battery Holder Set and Arduino HAT.

Note that the switch is "OFF".

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3.3 Install and Remove Batteries

1.Put two 18650 batteries in 18650 Battery Holder Set according to the following method.

Take out 1 ribbons and 1 batteries.

Roll one end of the ribbon to let through a battery and fix.

Insert the batteries into the rings - ribbon closer to the anode.

Install the batteries into the holder based on the pole.

To remove the batteries, just pull the ribbon and take them out.

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Assemble the following components.

M3 Nut
X3
M3*10 Screw
X3

Effect diagram after assembling.

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In the following installation process, it is required to connect the servos to the AdeeptPixie The
AdeeptPixie will automatically check the servo angle and rotate it to the appropriate position.

When debugging the servo,

switch to "on" and switch to "off"
after the debug is completed.

Connect the servo to D2-D13 of the interfaces in

the red box at the angle shown in the figure.

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3.4 Assemble the legs

The following is the installation of one of the legs. For the other three legs, please refer to the
following installation.
Assemble the following components.

Servo
X1 M2*8 Screw
X2

M2 Nut
X2

Effect diagram after assembling.

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Assemble the following components.

M3*20 Nylon Standoff

X1

M3*8 Screw
X2

Effect diagram after assembling.

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Assemble the servo.

Assemble the following components.

M2*8 Screw
X2

M2 Nut
X2

Effect diagram after assembling.

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Assemble the following components.

M3*10 Screw
X4

M3 Nut
X4

Effect diagram after assembling.

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Assemble the rocker arm.

Assemble the following components.

Servo rocker
Arm X2
X2

M1.7*6*6
self-tapping Screw
X2

Effect diagram after assembling.

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Assemble the following components.

M2 Nut
X2

Servo
X1

M2*8 Screw
X2

Effect diagram after assembling.

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Assemble the following components.

Before installing the servo and

the rocker arm, check the servo
with the previous method.

M2.5*8 Screw
X2

Effect diagram after assembling.

In the state of checking, the leg

should maintain this posture.

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The above is the installation of the leg on one side of the robot. For the installation of the other
side of the leg, refer to the picture below (the legs on both sides are symmetrical).

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3.5 Assemble the other parts of the robot

1.Assemble the battery holder.
Assemble the following components.

M3 Nut
M3*8 Countersunk
X1
Head Screw
X1

Effect diagram after assembling.

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Install the rocker arm.

Assemble the following components.
M1.7*6*6
Self-tapping
screw x4

Servo rocker
Arm X4

Effect diagram after assembling.

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Assemble the following components.

M3*15 Nylon
standoff
X4

M3*8 Screw
X4

Effect diagram after assembling.

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Install the lights.

Assemble the following components.

M2 Nut
X4

WS2812 LED
X2
M2*6 Copper Standoff
X4

M2*14 Screw
X4

Effect diagram after assembling.

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Assemble the following components.

M3*8 Screw
X6

M3*40 Nylon
Standoff X6

Effect diagram after assembling.

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Assemble the following components.

M3*8 screw
X4

MPU-6050
X1

M3*22 Nylon Standoff

X4

Effect diagram after assembling.

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Assemble the legs with the acrylic plate with the rocker arm installed (the servo needs to be in
the state of debugging)
Assemble the following components

M2.5*8 Screw
X4

Effect diagram after assembling.

The posture when the servo is

in the state of debugging.

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Assemble Adeept Ultrasonic Module.

Assemble the following components.

Adeept Ultrasonic
Module X1

M1.4*6 self-tapping Screw

X4

Effect diagram after assembling.

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Assemble the whole part.

Assemble the following components.

M3*8 Screw
X6

Effect diagram after assembling.

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Assemble the following components.

Effect diagram after assembling.

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Connect the robot according to the diagram.

When connecting the MPU-6050 with 4-pin

wire-2, please connect different interfaces of
AdeeptPixie according to the figure.

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Assemble the following components.

M3*8 Screw
X4

Effect diagram after assembling.

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Assemble the following components.

M3*8 Screw X4

Effect diagram after assembling.

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Assemble the following components.

M2.5*4 Screw M2.5*11 Copper
X2 Standoff X2
IR Receiver X1

M2.5* 8 Screw
X2

Effect diagram after assembling.

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The assembled robot connect

the servo and IR receiver
from here after finishing

D2 assembling the robot.

D8

D4

D3
D9

D14 D10

D6

D5
D7 D13

D12

Connect the servo to the D11

corresponding interface
according to the numbers
below.

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Connect to the interfaces from

D2 to D13 in turn according to
the servo number given above.

GND D

5V

Connect the IR Receiver to D14 with

the Female to Female Dupont Wire
Connect to the corresponding
interfaces on AdeeptPixie according
to different colors.

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4. Program debugging
After the assembly is completed, the error of the servo itself will cause an angle de
viation of the robot's foot. At this time, each leg of the robot needs to be adjusted
to the correct angle as shown in the following figure by modifying the program.
Only then the robot can work normally. Refer to the following link for video tutoria
l: https://www.adeept.com/video/detail-68.html

0
90

0
90

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5.Install the upper computer control software

Python
5.1.Download software
1.Open the URL in your browser: https://www.python.org/downloads/
Download corresponding version according to your computer operating system:

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2.Download completed, open the program and install Python.

3.Select the option or you can’t be able to control the robot.

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4. Choose different installation path base on your needs.

5. Wait to complete.

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6.Open the software and you can control.

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5.2. Control the robot.

1. Method of Wi-Fi control is as follows:
（1）After the LED changes to blue, connect the WIFI of ESP8266 (the name of each ESP8266WIFI
module is different, but all start with ESP).

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（2）Open the control software, the interface is as shown.

（3）Enter the default IP address 192.168.4.1 of the ESP8266 in the IP input box, click the connect
button and you can control.
（4）You can see that there are buttons for functions of auto-stability, forward and backward, left
and right turn, attack, radar scanning and automatic obstacles avoiding. Press different buttons
can achieve different functions.
（5）5Battery bar shows the battery level. Charge the battery when it shows red.
2.Method of infrared remote control is as follows:
Functions of buttons 2”, “4”, “6”, “8”, “5” and “1” respectively are forward, left
turn, backward, right turn, self-stable, automatic obstacle avoidance.
（1）Note that when in self-stabilizing state, large range of motions is not recommended, and the
angle of inclination is best not to exceed 30 degrees. Otherwise the processor will misjudge,
resulting in incorrect data, if the processor misjudge,don’t worry about it , the processor can
corretc itself and return to normal
（2）During the self-stabilization, if too large motion is exerted or it meets unexpected conditions,
restart the robot.
（3）peration method: Press and hold W, S, A, D on the keyboard to forward, backward, turn left
and turn right. Release to stop. Click Q to enter attack mode(no need to hold it). Click E to
obstacles avoiding mode. Click F to self-stabilization mode. Click X to radar scanning mode. If
double click WSAD with mouse, the robot will be on constant motion.
（4）Sometimes the Wi-Fi communication button may not respond, it is because that data loss
may occur during Wi-Fi transmission. You can try to press other buttons, or restart the robot.
（ 5 ） The infrared remote control should be aligned with the infrared receiver. Otherwise, the
data received may be incomplete, which may lead to misjudgment.
（6 ） When using the infrared remote control, if the LED light turns red and the color remains
unchanged for a while, that means the battery voltage is too low; And it’s normal if the LED
color changes from blue to red, and then changes back to blue. Because when all the motors
move together, the output voltage is too large, in that case, the remaining battery power
detected by the chip is too low.

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6.Afterword
Thanks for purchasing our product and reading the manual! If you spot any errors or have any
ideas or questions for the product and this guide, welcome to contact us! We will correct them if
any as quickly as possible.
After completing all projects in the guide, you should have some knowledge of the Raspberry Pi
and Robot, thus you can try to change the robot into other projects by adding more Adeept
modules or changing the code for extended functions.
For more information about Arduino, Raspberry Pi, Smart car robot, or robotics, etc., please
follow our website www.adeept.com. We will introduce more cost-effective, innovative and
intriguing products!
Thanks again for choosing Adeept product and service!

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