miniHexa Robot Control

The robot is controlled wirelessly via BLE using scripts/ble_robot.py. All 14 action groups, movement directions, and emotion mappings are in references/actions_map.json.

Setup

This skill includes ready-to-use scripts. Copy them to your working directory first:

$skill = "$env:USERPROFILE\.cursor\skills\minihexa-robot-control"
cp "$skill\scripts\ble_robot.py" .
cp "$skill\references\actions_map.json" .

Requires: pip install bleak

Quick Start

import asyncio
from ble_robot import BLERobot

async def main():
    async with BLERobot() as robot:
        await robot.play("挥手")               # trigger action by name
        await robot.move("前进", duration_s=3) # move forward 3s then auto-stop
        print(robot.distance_mm)               # current obstacle distance

asyncio.run(main())

Or run standalone: python ble_robot.py (interactive CLI)

Skill Files

File	Purpose
scripts/ble_robot.py	Main BLE control class (BLERobot) — copy to project
references/actions_map.json	All actions, movement cmds, emotion hints — copy to project

BLE Protocol

• Device name: miniHexa
• Write char (commands): 0000ffe1-0000-1000-8000-00805f9b34fb
• Notify char (sensor data): 0000ffe2-0000-1000-8000-00805f9b34fb
• Sensor push format: $battery_mV$distance_mm$ every 200ms

Command Reference

Command	Format	Notes
Action group	K|1|{id}&	id 1–14
Move	C|vx|vy|rot&	vx=left/right, vy=front/back (vy=30 = forward)
Stop	C|0|0|0&	Robot keeps moving until stop is sent
Reset pose	O&	Return to standing

Important: vx is left/right, vy is front/back. Forward = C|0|30|0&.

14 Built-in Actions

Name	ID	Emotion / Scene
逆时针扭动	1	得意/霸气/胜利
顺时针扭动	2	生气/烦躁
唤醒	3	开机/苏醒
唤醒奔跑	4	高兴/兴奋
撒娇	5	可爱/撒娇
越障	6	克服困难
战斗1	7	加油/支持
战斗2	8	被欺负/愤怒/出头
左脚前踢	9	进攻
左脚右踢	10	进攻
右脚前踢	11	进攻
右脚左踢	12	进攻
推门	13	前进/开路
挥手	14	你好/再见

Movement Directions

Name	Command
前进	C|0|30|0&
后退	C|0|-30|0&
左移	C|-30|0|0&
右移	C|30|0|0&
左转	C|0|0|1&
右转	C|0|0|2&
停止	C|0|0|0&

Obstacle Detection

BLERobot auto-stops movement when distance_mm < 200. To set a custom callback:

async def on_obstacle(dist_mm):
    print(f"Obstacle at {dist_mm}mm!")

robot.set_obstacle_callback(on_obstacle)

Emotion → Action Mapping (LLM Integration)

Read references/actions_map.json → emotion_hints for suggested mappings. Example:

# Load and use emotion hints
with open("actions_map.json", encoding="utf-8") as f:
    mapping = json.load(f)["emotion_hints"]
# mapping["被欺负/委屈/受气"] == "战斗2"

Then call await robot.play(action_name).

Caveats

• WiFi only supports C (move) and F (pose) — no action groups over WiFi
• BLE is the only wireless channel that supports all 14 action groups (K command)
• L (direct servo control) is serial-only, not available over BLE
• Battery warning threshold: 7000mV (robot beeps when low)