45 lines
2.0 KiB
Markdown
45 lines
2.0 KiB
Markdown
# Bluetooth
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Configure the robot's WiFi and pair the BLE remote control without the phone app. Open from the landing page → **Bluetooth** tile.
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## Robot Provisioning
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<p align="center">
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<img src="../images/bluetooth_robot.png" width="70%" />
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</p>
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Scan, connect, fetch SN + AP MAC, configure WiFi (SSID, password, STA / AP mode, region). Adapter selector for switching between multiple HCI adapters (handy with USB dongles).
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Protocol versions:
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- **V1 / V2** — used by legacy firmware (Go2 `< 1.1.15`, G1 `< 1.5.1`). Standard Nordic UART or FFE0 service. See [bluetooth-v1-v2.md](bluetooth-v1-v2.md) for the full GATT layout and command schema.
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- **V3** — G1 `≥ 1.5.1` and Go2 `≥ 1.1.15`. Adds two new opcodes: `VERSION` (`0xF1`) and `GCM_KEY` (`0xF2`). The UI gates V3 probes on the scanned BLE name (`/^(G1|Go2)[_\W]/i`); older firmware silently drops the probe so it fails soft (a few-second timeout). See [bluetooth-v3.md](bluetooth-v3.md) for the magic-prefix handshake and key-exchange details.
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## Remote Control
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<p align="center">
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<img src="../images/bluetooth_remote.png" width="70%" />
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</p>
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Pair the Unitree BLE remote (`Unitree-*` advertising name) to read live joystick axes and button states, with an Hz counter showing the update rate.
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Once paired, a gamepad icon appears in the control view's setting bar — click it to relay the remote's input to the robot over the WebRTC `rt/wirelesscontroller` channel:
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<p align="center">
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<img src="../images/bt_relay_button.png" width="50%" />
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</p>
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Full protocol details and frame layout in [remote-control.md](remote-control.md).
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## Running the BLE Server
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The dev `npm run start` script launches both Vite and the Python BLE backend together. To run them separately:
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```bash
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pip install -r server/requirements.txt
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npm run ble-server # Python FastAPI BLE backend
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npm run dev # Vite frontend (no BLE)
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```
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The frontend talks to the BLE server through Vite's `/ble-api/*` proxy, so CORS isn't a concern.
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