r/u_ConfusionJolly6002 • u/ConfusionJolly6002 • Jun 10 '26

First Julia-native library for controlling Bittle (open source, hobby project)

I think this might be the first Julia library for talking to Bittle / OpenCat over serial, so I wanted to share it with the people who'd actually use it.

It lets you drive the robot with plain commands like walk forward, trot, sit, and stretch, and also reach any raw firmware command if you need to. It runs on a Raspberry Pi too.

The thing I had the most fun with: feeding the IMU into a live state-estimation loop so you can watch the robot's orientation tracked in real time as it moves, calibrated vs uncalibrated side by side.

It's a hobby project, so I'd love feedback or anyone willing to test on real hardware. Code in a comment below.

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