Sima Code Examples

This repository contains example codes for controlling Sima.

The examples demonstrate how to use Dynamixel features and how to adapt them for Sima’s movement and control logic.

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Folder Structure

examples/

This folder contains various example codes for controlling Sima.
These examples showcase the basic functionalities of Dynamixel motors and demonstrate how to configure them specifically for our Sima.

esp_now_enable_signal/

This folder contains code that sends an enable signal to the Sima (the funcionality for multiple SIMAs isn't implemented yet) using the ESP-NOW protocol.

Use this to wirelessly trigger Sima’s movement start from a separate ESP32 board.

driving_gui/

This is a web-based application for general testing of Sima’s functionality.
It allows control of Sima using a laptop and keyboard, independently of any pre-programmed behavior.

This GUI does not follow a predefined path—it is meant for manual testing.

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Requirements

• SIMA
• Arduino IDE or VS Code for flashing examples

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