We got a diver!
Welcome to the anatomy section of the TNY-360 documentation. This is where we will dissect the robot's design, both in terms of hardware and software, to give you a (hopefully) complete understanding of how it works and how you can modify it.
This part of the documentation is intended for those who want to go beyond just using the TNY-360 and are interested in the inner workings, whether it's for educational purposes, research, or advanced modding.
The documentation is divided into three main sections:
The hardware section covers the physical design of the TNY-360. This includes the mechanical structure, the kinematics, the degrees of freedom, and the "mecanical fuses" concept that protects the robot from damage during falls.
Start to learn about the hardware design and mechanics of the TNY-360 here :
Hardware & Mechanics - A detailed breakdown of the physical architecture and structural engineering of the TNY-360.
The electronics section dives into the components that power the TNY-360, including the ESP32-S3 microcontroller, the MG996R servos, the power management system, and the communication interfaces.
Start to learn about the electronics and wiring of the TNY-360 here :
Electronics & Wiring - An in-depth look at the internal electrical design, power distribution, and custom circuit modifications of the TNY-360.
If you want to understand how the TNY-360's brain works, this section is for you. It covers the firmware architecture, the main control loop, the robot's lifecycle, and the communication protocols that allow it to interact with external controllers.
To dive into the firmware and software of the TNY-360, start here :
Firmware & Software - A comprehensive guide to the microcontroller architecture, control logic, and communication protocols of the TNY-360.