Wio LeRobot Control

Wio Terminal firmware sketches for controlling LeRobot workflows and robot-side test hubs.

Sketches

• wio_so101_ctl - SO-101 / SO-ARM100 PC-hub controller. It shows a small arm visualization, selects joints, sends relative joint moves, and handles emergency stop / rescan commands over USB serial.
• wio_b601_ctl - B601 / arm-dm run console. It lists models and datasets from bambot + lerobot-easy, starts or stops local runs, starts or stops dataset replay, and displays compact run status.
• wio_easy_ctl - lerobot-easy Run page controller. It connects directly to the easy Web Serial button, sends only input events, and renders screen payloads owned by easy.

Requirements

• Wio Terminal
• Arduino IDE or arduino-cli
• Seeed SAMD board package for Wio Terminal
• Wio Terminal LCD support from the Seeed board package

The board FQBN used by arduino-cli is:

Seeeduino:samd:seeed_wio_terminal

Build

arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal wio_so101_ctl
arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal wio_b601_ctl
arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal wio_easy_ctl

Upload

Replace /dev/tty.usbmodemXXXX with the Wio Terminal serial port:

arduino-cli upload -p /dev/tty.usbmodemXXXX --fqbn Seeeduino:samd:seeed_wio_terminal wio_b601_ctl

Use wio_so101_ctl or wio_easy_ctl instead of wio_b601_ctl when flashing those controllers.

Serial Baud

All sketches use USB serial at 115200.

License

MIT