RIG-Omni — Open Source ESP32-S3 Robot Firmware

✨ Features

🧠

Voice AI

Offline wake word, cloud ASR/TTS, VAD, AGC — natural voice interaction on a microcontroller.

🎭

Emotion Display

EAF animation engine on LVGL, 20+ expressions with dynamic transitions on a 240×240 round LCD.

🤖

Motion Control

Multi-servo & wheel motor control with IMU-based balance and preset actions.

📡

Connectivity

BluFi provisioning, OTA firmware updates, HMAC device activation.

🔧

MCP Tools

Extensible remote command framework — control your robot programmatically.

📷

Camera

ESP32-S3 camera integration with snapshot capabilities via MCP.

🤖 Robot Forms

🐶

RIG-Puppy

5-Servo Robot Dog
Gait control · Head tracking · Emotive actions

🛞

RIG-Hover

2-Wheel Hovercraft
Balance control · Differential drive · Debug server

🏗️ Architecture

┌───────────────────────────────────────────┐
│            Application Layer              │
│  Voice AI  ·  Emote Display  ·  MCP  ·    │
│  Camera Tools  ·  OTA                     │
├───────────────────────────────────────────┤
│          Board Abstraction                │
│  ┌─────────────────────────────────────┐  │
│  │        boards/common/               │  │
│  │  IMU · BLE · Button · Battery · …   │  │
│  └─────────────────────────────────────┘  │
│  ┌──────────────┐ ┌───────────────────┐   │
│  │  boards/     │ │   boards/         │   │
│  │   puppy/     │ │    hover/         │   │
│  │  5-Servo Dog │ │  2-Wheel Hover    │   │
│  └──────────────┘ └───────────────────┘   │
├───────────────────────────────────────────┤
│          ESP-IDF Framework                │
│  WiFi · BLE · SPI · I2C · I2S · UART      │
└───────────────────────────────────────────┘

One unified codebase, two robot forms. Common hardware drivers in boards/common/, robot-specific logic in boards/puppy/ and boards/hover/.

🔧 Hardware

Component	Interface	Details
GC9A01 Round LCD	SPI	240×240, EAF emotion animations via LVGL
IMU (QMI8658C)	I2C	6-axis attitude + balance control
Servo Motors	UART (XGO)	Puppy: 5 servos, Hover: 1 servo + 2 DC motors
Audio Codec	I2S	Simplex/Duplex mic + speaker
Camera (OV2640)	DVP	Snapshot via MCP tools
Buttons + Touch	GPIO	WiFi config, chat toggle, NVS reset

🚀 Quick Start

# Clone & enter
git clone https://github.com/Xgorobot/RIG-Omni.git
cd RIG-Omni

# Source ESP-IDF
source ~/esp/esp-idf/export.sh

# Configure board type
idf.py set-target esp32s3
idf.py menuconfig  # → RIG-Omni → Board Type → Puppy / Hover

# Build & flash
idf.py build
idf.py -p /dev/ttyUSB0 flash monitor