Getting Started

Getting Started

Prerequisites

• Python 3.10+
• USB-to-UART serial cable connected to the ESP32-C3 suit (or run in dry-run simulation mode).

Installation & Setup

1. Clone the repository:

git clone https://github.com/Perry1231/MoSy.git
cd MoSy

2. Install core dependencies:

pip install -r requirements.txt

3. Verify Joint Configuration: Inspect or edit config/joints.json to match your quadruped's mechanical joint zero offsets and motor inversion flags.
4. Run the Execution Loop:

python main.py

Note: If no ESP32-C3 or PCA9685 board is connected, MoSy automatically defaults to Simulation / Benchmark Mode, executing dummy telemetry loops while logging real-time cycle latency.